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A novel dynamic terminal sliding mode control of uncertain nonlinear systems

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A new dynamic terminal sliding mode control (DTSMC) technique is proposed for a class of single-input and single-output (SISO) uncertain nonlinear systems. The dynamic terminal sliding mode controller is formulated based on Lyapunov theory such that the existence of the sliding phase of the closed-loop control system can be guaranteed, chattering phenomenon caused by the switching control action can be eliminated, and high precision performance is realized. Moreover, by designing terminal equation, the output tracking error converges to zero in finite time, the reaching phase of DSMC is eliminated and global robustness is obtained. The simulation results for an inverted pendulum are given to demonstrate the properties of the proposed method.

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This work was supported by the National Natural Science Foundation of China (No.60474025, 90405017).

Jinkun LIU was born in Heilongjiang Province, 1965. He received his Ph.D. degree in automatic control from Northeastern University, China, in 1997. After a two-year post-doctoral position at the Automatic Control Department in Zhejiang University from 1997 to 1999, he joined the Department of Automatic Control, Beijing University of Aeronautics and Astronautics, as an associate professor. His research concerns motion control, intelligent control and robust control.

Fuchun SUN received the B.S., M.S. degrees from Naval Aeronautical Engineering Academy, Yantai, China, in 1986 and 1989, respectively, and the Ph.D. degree from the Department of Computer Science and Technology, Tsinghua University, Beijing, China, in 1998. He worked for over four years for the Department of Automatic Control at Naval Aeronautical Engineering Academy. From 1998 to 2000 he was a Postdoctoral Fellow of the Department of Automation at Tsinghua University, Beijing, China. Now he is a professor in the Department of Computer Science and Technology, Tsinghua University, Beijing, China. His research interests include intelligent control, network control and management, neural networks, fuzzy systems, variable structure control, nonlinear systems and robotics. Dr. Sun is a member of the IEEE Control System Society. He is the recipient of the excellent Doctoral Dissertation Prize of China in 2000.

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Liu, J., Sun, F. A novel dynamic terminal sliding mode control of uncertain nonlinear systems. J. Control Theory Appl. 5, 189–193 (2007).

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