Nonsingular Terminal Sliding Mode Control Based on Novel Reaching Law for Nonlinear Uncertain System

Abstract:

Novel reaching law to nonsingular terminal sliding mode control for the control of the second order nonlinear uncertain system is introduced in this paper. The problems of singularity, chattering and slow convergence of the terminal sliding mode control, and verify the stability of the new controller is analyzed. Due to the premise of eliminating the singular value in the nonsingular terminal sliding mode control, the new reaching law based on the power reaching law enables the finite time convergence of the system equilibrium. By applying the new controller to the inverted pendulum system, the sliding surface had been proved fast and the system chattering had been reduced at the same time. Simulation results indict that the system converges to the equilibrium in a short time and the proposed method is feasible and effective.

• Periodical: Applied Mechanics and Materials (Volumes 347-350)
• Pages: 302-306
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.347-350.302
• Online since: August 2013
• Authors: Ji Chen Li, Feng Qi Gao, Guang Long Wang, Ming Wang, Wen Jie Zhu, Qi Chang Li
• Keywords: Finite Time Convergence, Nonlinear System, Reaching Law, Terminal Sliding Mode

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