A novel non-singular fast terminal sliding mode control of nonlinear systems with uncertain disturbances

被引：2
|
作者：
Yang X.-Q. [1 ]
Li J. [1 ]
Dong Y. [1 ]
机构：
[1] College of Aerospace Science and Engineering, National University of Defense Technology, Changsha, 410073, Hunan
来源：
Kongzhi Lilun Yu Yingyong/Control Theory and Applications | 2016年 / 33卷 / 06期
关键词：
Back-stepping method; Nonlinear observer and filter design; Robust control of nonlinear systems; Terminal sliding-mode;
D O I：
10.7641/CTA.2016.15102
中图分类号：
学科分类号：
摘要：
A novel control scheme of non-singular fast terminal sliding mode control (NFTSMC) based on nonlinear disturbance observer (NDO) and back-stepping method is proposed for a class of nonlinear system with multiple uncertain disturbances. The uncertainty of the system can be estimated by nonlinear disturbance observer online. And the backstepping method is used to deal with high order nonlinear systems with uncertainties. A novel non-singular fast terminal sliding controller is designed for the last step which can promise the finite time convergence and improve the steady state precision. Also, all of the disturbances estimated by the NDO are introduced into the design of virtual control laws in each step to compensate the uncertain disturbances. Under the proposed terminal sliding mode control method, the finite time convergence of all closed-loop signals is guaranteed via Lyapunov analysis. Finally, a simulation example is applied to demonstrate the efficacy of the proposed composite control method. © 2016, Editorial Department of Control Theory & Applications South China University of Technology. All right reserved.
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页码：772 / 778
页数：6
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