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This study aims at providing a solution to the problem of designing acontinuous and finite-time control for a class of nonlinear systems in thepresence of matched uncertainty with an unknown apriori bound. First, wepropose a Full-Order Integral-Terminal Sliding Manifold (FOITSM) with aconventional (discontinuous) sliding mode to show that it provides the combinedattributes of the nonsingular terminal and integral sliding mode algorithms.Secondly, an Adaptive Disturbance Observer (ADO) has been designed to alleviatethe effect of the uncertainty acting on the system. On application of theADO-based Full-Order Integral-Terminal Sliding Mode Control (FOITSMC), thechattering phenomenon in control input has been reduced substantially in thepresence of conditionally known matched disturbances. Moreover, the adaptivegains of ADO are updated non-monotonically without over-bounding the actingdisturbance, yet sustain the global boundedness of state trajectories within aspecific bound. %Finally, an application of the proposed algorithm for attitudestabilization of a rigid spacecraft has been successively shown.

On Continuous Full-Order Integral-Terminal Sliding Mode Control with Unknown Apriori Bound on Uncertainty