A continuous integral terminal sliding mode control approach for a class of uncertain nonlinear systems

In this article, the continuous integral terminal sliding mode control problem for a class of uncertain nonlinear systems is investigated. First of all, based on homogeneous system theory, a global finite-time control law with simple structure is proposed for a chain of integrators. Then, inspired by the proposed finite-time control law, a novel integral terminal sliding mode surface is designed, based on which an integral terminal sliding mode control law is constructed for a class of higher order nonlinear systems subject disturbances. Furthermore, a finite-time disturbance observer-based integral terminal sliding mode control law is proposed, and strict theoretical analysis shows that the composite integral terminal sliding mode control approach can eliminate chattering completely without losing disturbance attenuation ability and performance robustness of integral terminal sliding mode control. Simulation examples are given to illustrate the simplicity of the new design approach and effectiveness.