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

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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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Authors and Affiliations

  1. National Lab. of Industrial Control Technology, Institute of Advanced Process Control, Zhejiang University, 310027, Hangzhou, China

    Zhuang Kai-yu, Su Hong-ye, Zhang Ke-qin & Chu Jian

Authors
  1. Zhuang Kai-yu
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  2. Su Hong-ye
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  3. Zhang Ke-qin
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  4. Chu Jian
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Corresponding author

Correspondence to Zhuang Kai-yu.

Additional information

Project supported by the National Outstanding Youth Science Foundation of China (NSFC:69725005) and the Zhejiang, Provincial Natural Science Key Foundation of China (ZD9905)

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Kai-yu, Z., Hong-ye, S., Ke-qin, Z. et al. Adaptive terminal sliding mode control for high-order nonlinear dynamic systems. J. Zheijang Univ.-Sci. 4, 58–63 (2003). https://doi.org/10.1631/BF02841080

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  • DOI: https://doi.org/10.1631/BF02841080

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