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CLC number: TP13;TP273
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Received: 2001-11-10
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Adaptive terminal sliding mode control for high-order nonlinear dynamic systems
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ZHUANG Kai-yu, SU Hong-ye, ZHANG Ke-qin,, CHU Jian. Adaptive terminal sliding mode control for high-order nonlinear dynamic systems[J]. Journal of Zhejiang University Science A, 2003, 4(1): 58-63.
@article{title="Adaptive terminal sliding mode control for high-order nonlinear dynamic systems",
author="ZHUANG Kai-yu, SU Hong-ye, ZHANG Ke-qin,, CHU Jian",
journal="Journal of Zhejiang University Science A",
volume="4",
number="1",
pages="58-63",
year="2003",
publisher="Zhejiang University Press & Springer",
doi="10.1631/jzus.2003.0058"
}
%0 Journal Article
%T Adaptive terminal sliding mode control for high-order nonlinear dynamic systems
%A ZHUANG Kai-yu
%A SU Hong-ye
%A ZHANG Ke-qin
%A
%A CHU Jian
%J Journal of Zhejiang University SCIENCE A
%V 4
%N 1
%P 58-63
%@ 1869-1951
%D 2003
%I Zhejiang University Press & Springer
%DOI 10.1631/jzus.2003.0058
TY - JOUR
T1 - Adaptive terminal sliding mode control for high-order nonlinear dynamic systems
A1 - ZHUANG Kai-yu
A1 - SU Hong-ye
A1 - ZHANG Ke-qin
A1 -
A1 - CHU Jian
J0 - Journal of Zhejiang University Science A
VL - 4
IS - 1
SP - 58
EP - 63
%@ 1869-1951
Y1 - 2003
PB - Zhejiang University Press & Springer
ER -
DOI - 10.1631/jzus.2003.0058
Abstract: An adaptive terminal sliding mode control (SMC) technique is proposed to deal with the tracking problem for a class of high-order nonlinear dynamic systems. It is shown that a function augmented sliding hyperplane can be used to develop a new terminal sliding mode for high-order nonlinear systems. A terminal SMC controller based on Lyapunov theory is designed to force the state variables of the closed-loop system to reach and remain on the terminal sliding mode, so that the output tracking error then converges to zero in finite time which can be set arbitrarily. An adaptive mechanism is introduced to estimate the unknown parameters of the upper bounds of system uncertainties. The estimates are then used as controller parameters so that the effects of uncertain dynamics can be eliminated. It is also shown that the stability of the closed-loop system can be guaranteed with the proposed control strategy. The simulation of a numerical example is provided to show the effectiveness of the new method.
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