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Integral Terminal Sliding Mode Control for a Class of Nonaffine Nonlinear Systems with Uncertainty
- Source :
- Mathematical Problems in Engineering, Vol 2013 (2013)
- Publication Year :
- 2013
- Publisher :
- Hindawi Limited, 2013.
-
Abstract
- This paper is concerned with an integral terminal sliding mode tracking control for a class of uncertain nonaffine nonlinear systems. Firstly, the nonaffine nonlinear systems is approximated to facilitate the desired control design via a novel dynamic modeling technique. Next, for the unmeasured disturbance of nonlinear systems, integral terminal sliding mode disturbance observer is presented. The developed disturbance observer can guarantee the disturbance approximation error to converge to zero in the finite time. Subsequently, based on approximated nonlinear model and the designed disturbance observer, the integral terminal sliding mode tracking control is presented for nonaffine nonlinear systems with uncertainty. Different from traditional terminal sliding-mode control, this paper accomplishes finite convergence time for nonaffine nonlinear systems and avoids the singular problem in the controller design. Furthermore, the control system is forced to start on the terminal sliding hyperplane, so that the reaching time of the sliding modes is eliminated. Finally, two numerical simulation results are given to illustrate the effectiveness of the proposed method.
- Subjects :
- Computer simulation
Article Subject
General Mathematics
lcsh:Mathematics
General Engineering
Terminal sliding mode
lcsh:QA1-939
Sliding mode control
System dynamics
Nonlinear system
Terminal (electronics)
Control theory
Approximation error
lcsh:TA1-2040
Control system
lcsh:Engineering (General). Civil engineering (General)
Mathematics
Subjects
Details
- Language :
- English
- ISSN :
- 15635147
- Volume :
- 2013
- Database :
- OpenAIRE
- Journal :
- Mathematical Problems in Engineering
- Accession number :
- edsair.doi.dedup.....5263033078993c72fcfaa92c525e7f5c