A novel nonsingular adaptive terminal sliding mode controller for MIMO linear systems with uncertainty

A novel nonsingular adaptive terminal sliding mode control (NATSMC) for MIMO linear systems is proposed in this paper. It is shown that the new method can force the stales of system to converge to a region near the equilibrium point in finite time. Meanwhile, the singularity problem is avoided. The combination of barrier-function adaptive law can compensate the matched uncertainty without overestimation, and the size of the sliding mode (SM) convergence region can be further reduced. Finally, a simulation example is given to validate the effectiveness and robustness of the proposed method.