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Bio-Design and Manufacturing  2021 Vol.4 No.1 P.58~63

10.1631/jzus.2003.0058


Adaptive terminal sliding mode control for high-order nonlinear dynamic systems


Author(s):  ZHUANG Kai-yu, SU Hong-ye, ZHANG Ke-qin

Affiliation(s):  National Lab. of Industrial Control Technology, Institute of Advanced Process Control,Zhejiang University, Hangzhou 310027, China

Corresponding email(s):   hysu@iipc.zju.edu.cn

Key Words:  Terminal sliding mode control, Finite time convergence, Adaptive laws


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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 D, 2021, 4(1): 58~63.

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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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Reference

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[4]Park, K. B. and Teruo Tsuji, 1999. Terminal sliding mode control of second-order nonlinear uncertain systems. Int. J. Robust Nonlinear Control, 9: 769-780.

[5]Slotine, J. J. E. and Li, W., 1991. Applied nonlinear control. Prentice-Hall, Englewood Cliffs, NJ.

[6]Venkataraman, S.T. and Gulati, S., 1993. Control of nonlinear systems using terminal sliding modes. Transaction of the ASME, 115(9): 554-564.

[7]Yu, X. Man, Z. H. and Wu, Y. Q., 1997. Terminal sliding modes with fast transient performance. Proceedings of the 36th Conference on Decision and Control, San Diego, USA, p.962-963.

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