|Adaptive Global Terminal Sliding Mode Control Scheme with Improved Dynamic Surface for Uncertain Nonlinear Systems
International Journal of Control, Automation, and Systems, vol. 16, no. 4, pp.1692-1700, 2018
Abstract : "This paper proposes an adaptive global terminal sliding mode control scheme for tracking control of
uncertain nonlinear systems. Using the proposed global sliding surface, the reaching period is omitted and the
robust performance of the whole system is improved. The discontinuous sign function is involved in the controller
derivative and then, the control signal achieved after integration is continuous and attenuates the chattering problem.
Two adaptation laws are employed to cope with the uncertainties and disturbances whose upper bounds are not
required to be known, where the proposed technique is more flexible in the real implementations. This method
guarantees robustness against uncertainties, disturbances and nonlinearities of the system. Moreover, the proposed
scheme removes the chattering phenomenon using the adaptive-tuning parameters and hyperbolic tangent function
in the reaching control law. Numerical simulations display the success and applicability of the proposed scheme in
comparison with the results of the other method."
Adaptive controller, global switching surface, nonlinear system., terminal sliding mode control, uncertainty