Adaptive Vector Nonsingular Terminal Sliding Mode Control for a Class of n-Order Nonlinear Dynamical Systems with Uncertainty. (30th March 2020)

• Record Type: Journal Article
• Authors: Shi, Nannan; Kang, Zhikuan; Zhao, Zhuo; Meng, Qiang
• Other Names: Na Jing Guest Editor.
• Is Part Of: Mathematical problems in engineering. Volume 2020(2020)
• Publication Date: 2020-03-30
• Subjects: Engineering mathematics -- Periodicals; 510.2462
• DOI: 10.1155/2020/7309417
• Languages: English
• ISSNs: 1024-123X

Abstract

Abstract : This paper proposed an adaptive vector nonsingular terminal sliding mode control (NTSMC) algorithm for the finite-time tracking control of a class of n-order nonlinear dynamical systems with uncertainty. The adaptive vector NTSMC incorporates a vector design idea and novel adaptive updating laws based on the commonly used NTSMC, which consider the common existence of the degree-of-freedom (DOF) directional differences and eliminate the chattering problem. The closed-loop stability of the n-order nonlinear dynamical systems under the adaptive vector NTSMC is demonstrated using Lyapunov direct method. Simulations performed on a two-degree-of-freedom (DOF) manipulator are provided to illustrate the effectiveness and advantages of the proposed adaptive vector NTSMC by comparing with the common NTSMC.