Adaptive super-twisting terminal sliding mode control for nonlinear systems with multiple inputs

  • Ming-Chang PaiEmail author


This paper presents an adaptive super-twisting terminal sliding mode control for uncertain nonlinear systems with multiple inputs. Based on Lyapunov stability theory, the stability of overall uncertain nonlinear system is guaranteed. Under the proposed method, the trajectory of states not only converges to zero in finite time, but also the chattering phenomenon is alleviated without reducing the accuracy of the system performance. Unlike the previous super-twisting algorithm, the proposed method can be applied to higher order uncertain nonlinear systems with multiple inputs, which is more flexible in the application. Finally, the simulation results are given to demonstrate the effectiveness of the proposed method.


Terminal sliding mode control Nonlinear systems Super-twisting algorithm chattering 


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Copyright information

© Springer-Verlag GmbH Germany, part of Springer Nature 2019

Authors and Affiliations

  1. 1.Department of Automation EngineeringNan Kai University of TechnologyNantouTaiwan, ROC

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