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Nonsingular fast terminal sliding‐mode control for nonlinear dynamical systems
Author(s) -
Yang Liang,
Yang Jianying
Publication year - 2010
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.1666
Subject(s) - control theory (sociology) , nonlinear system , invertible matrix , terminal sliding mode , singularity , convergence (economics) , terminal (telecommunication) , sliding mode control , scheme (mathematics) , computer science , mode (computer interface) , rate of convergence , control (management) , mathematics , artificial intelligence , mathematical analysis , physics , telecommunications , channel (broadcasting) , computer network , quantum mechanics , pure mathematics , economics , economic growth , operating system
This paper investigates fast finite‐time control of nonlinear dynamics using terminal sliding‐mode (TSM) scheme. Some new norms of fast TSM strategies are proposed, and a faster convergence rate is established in comparison with the conventional fast TSM. A novel concept of nonsingular fast TSM, which is able to avoid the possible singularity during the control phase, is adopted in the robust high‐precision control of uncertain nonlinear systems. Numerical simulation on a two‐link rigid robot manipulator demonstrates the effectiveness of the proposed algorithm. Copyright © 2010 John Wiley & Sons, Ltd.