Adaptive chattering-free terminal sliding-mode control for full-order nonlinear system with unknown disturbances and model uncertainties. (15th June 2020)

• Record Type: Journal Article
• Authors: Wan, Lei; Chen, Guofang; Sheng, Mingwei; Zhang, Yinghao; Zhang, Ziyang
• Is Part Of: International journal of advanced robotic systems. Volume 17:Number 3(2020:May/Jun.)
• Publication Date: 2020-06-15
• Subjects: Full-order system -- adaptive method -- chattering free -- singularity -- sliding-mode control -- finite-time stability; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.1177/1729881420925295
• Languages: English
• ISSNs: 1729-8806

Abstract

This study investigates an adaptive chattering-free sliding-mode control method for n -order nonlinear systems with unknown external disturbances and uncertain models. The proposed method takes the advantage of finite-time fast convergence to avoid singularity problem and ensure its robustness against system uncertainty and unknown disturbance. To achieve fast convergence from any initial condition to system origin, a full-order terminal sliding-mode controller containing differential terms is proposed based on the property of n -order nonlinear systems. Then the continuous and smooth actual control law is obtained by integrating the differential control law containing the discontinuous sign function to realize chattering free. Meanwhile, instead of evaluating the fixed upper bound of system uncertainty and interference in practical implementations, an adaptive method is utilized for its unknown upper bound estimation. The convergence of the adaptive terminal sliding-mode controller in finite time is verified based on Lyapunov stability theory. Finally, two simulation results demonstrate the effectiveness of the proposed control method.