Nonlinear Dynamics

, Volume 82, Issue 1–2, pp 599–610 | Cite as

An adaptive fast terminal sliding mode control combined with global sliding mode scheme for tracking control of uncertain nonlinear third-order systems

  • Saleh MobayenEmail author
Original Paper


In this paper, an adaptive fast terminal sliding mode control technique combined with a global sliding mode control scheme is investigated for the tracking problem of uncertain nonlinear third-order systems. The proposed robust tracking controller is formulated based on the Lyapunov stability theory and guarantees the existence of the sliding mode around the sliding surface in a finite time. Under the uncertainty and nonlinearity effects, the reaching phase is removed and the chattering phenomenon is eliminated. This scheme guarantees robustness against nonlinear functions, parameter uncertainties and external disturbances. The derivative of the state variable is replaced by a delay term in the form of an Euler approximation of the derivative function. Furthermore, the knowledge of upper bounds of the system uncertainties is not required, which is more flexible in the real implementations. Simulation results are presented to show the effectiveness of the suggested method.


Fast terminal sliding mode Adaptive tuning Global sliding surface Third-order nonlinear system Tracking Robustness 


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Copyright information

© Springer Science+Business Media Dordrecht 2015

Authors and Affiliations

  1. 1.Electrical Engineering DepartmentUniversity of ZanjanZanjanIran

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