Fast Nonsingular Integral Terminal Sliding Mode Control for Nonlinear Dynamical Systems

This paper presents a fast nonsingular integral terminal sliding mode control (FNITSMC) for a class of nonlinear systems. First, a novel fast nonsingular integral terminal sliding mode surface (FNITSMS) is designed by introducing power integral terms which contain a boundary-like structure. Next, by employing FNITSMS and the equivalent control technique, the FNITSMC is proposed to achieve the finite-time convergence of the system states. Compared with many existing works on terminal sliding mode control (TSMC), the proposed FNITSMC exhibits three attractive features: (i) can avoid the singularity problem without any constraint, and provide faster responses by tuning the parameters in FNITSMS; (ii) for constant or eventually constant disturbances, zero steady-state error can be achieved when a boundary layer is used to alleviate chattering; (iii) the switching gain is only required to be designed greater than the bound of the disturbance. Finally, Simulation results of both the numerical and application examples show the effectiveness of the proposed control method.