A novel dynamic terminal sliding mode control of uncertain nonlinear systems  

作　　者：Jinkun LIU Fuchun SUN 

机构地区：[1]School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China [2]State Key Laboratory of Intelligent Technology and Systems, Tsinghua University, Beijing 100084, China

出　　处：《控制理论与应用（英文版）》2007年第2期189-193,共5页

基　　金：the National Natural Science Foundation of China (No.60474025, 90405017).

摘　　要：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.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.

关 键 词：Terminal sliding mode control Dynamic sliding mode Robust control Inverted pendulum 

分 类 号：O231.2[理学—运筹学与控制论]