|Observer-based Composite Adaptive Dynamic Terminal Sliding-mode Controller for Nonlinear Uncertain SISO Systems
Xiaofei Liu, Shengbo Qi*, Reza Malekain, and Zhixiong Li
International Journal of Control, Automation, and Systems, vol. 17, no. 1, pp.94-106, 2019
Abstract : "In the present paper, the observer-based composite adaptive terminal sliding-mode control is investigated
for the nonlinear uncertain system. First, an adaptive observer is designed to estimate the unavailable high-order
derivative of the output. Then, a new dynamic terminal sliding surface is proposed with a state filter, which aims to
develop the dynamic terminal sliding mode controller. By the composite adaptive control methods, a new adaptive
law is designed, and the stability of the overall system is proofed based on the Lyapunov method. Finally, some
numerical simulations are conducted to validate the effectiveness of the proposed algorithm."
Adaptive control, adaptive observer, dynamic terminal sliding mode control, stability.