Adaptive Dynamic Surface Based Nonsingular Fast Terminal Sliding Mode Control for Semistrict Feedback System

Abstract

This paper focuses on an adaptive dynamic surface based nonsingular fast terminal sliding mode control (ADS-NFTSMC) for a class of nth-order uncertain nonlinear systems in semistrict feedback form. A simple and effective controller has been obtained by introducing dynamic surface control (DSC) technique on the basis of second-order filters that the "explosion of terms" problem caused by backstepping method can be avoided. The nonsingular fast terminal sliding mode control is adopted in the last step of the controller design, and the error convergence rate is improved. An composite adaptive law is used to gain fast and accurate parameter estimation. Finally, simulation results are presented to illustrate the effectiveness of the proposed method.

Fuzzy Adaptive Asymptotic Control for a Class of Large-Scale High-Order Unknown Nonlinear Systems

“…To ensure tracking performance, a modified DSC method was proposed by introducing a differentiator in [23]. An adaptive DSC algorithm is developed to optimize the convergence speed of the tracking error in [24]. For large-scale systems, a decentralized stabilizer is designed, and the transient performance is also analyzed and evaluated by the L 2 bound oft he tracking error in [25].…”

Adaptive dynamic surface asymptotic tracking for a class of uncertain nonlinear systems

“…More recently, instead of using the linear filters, several DSC methods have been addressed to improve the control performance. () In the works of Farrell et al( ) and Dong et al,() a command filtered backstepping consisting of a second‐order filter for derivative generation was proposed, and the rigorous proof of the closed‐loop stability was studied via Tikhonov's theorem. By incorporating the sliding mode–based integral filters and command filtered backstepping, an input‐to‐state stability–modular approach was proposed in the work of Zong et al To increase the error convergence rate, adaptive dynamic surface based nonsingular fast terminal sliding mode control was presented for semistrict‐feedback systems in the work of Li et al In the works of Sun et al( ) and Wang et al,() the tracking differentiators were incorporated to improve the transient tracking‐error performance in the DSC design.…”

Fast terminal sliding mode controller design for nonlinear second‐order systems with time‐varying uncertainties

“…To provide the fast convergence rate and strong robustness, fast terminal sliding mode (FTSM) control method has been proposed in . In the recent years, there is more interest in the use of this method . However, it should be noted that FTSM structure still needs to be further considered on robustness performance and reaching phase elimination.…”