Enhancing performance by Lyapunov-based Second-order Sliding Mode Design

The existing second-order sliding mode (SOSM) control methods can only be used to handle sliding mode control systems subject to matched disturbance. This paper proposes a novel SOSM control method, which allows the sliding mode control systems with mismatched disturbance. Such a control approach is intended to deal with the first derivative of the sliding variable characterized by a certain term and an uncertain disturbance, so as to improve control performance of the closed-loop system. The rigourous analysis also ensures global finite-time stability of the sliding variables instead of global finitetime convergence widely used in the existing SOSM control. The validity of the proposed approach is verified by an academic example.