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Nonsingular terminal sliding mode control of nonlinear second‐order systems with input saturation
Author(s) -
Ding Shihong,
Zheng Wei Xing
Publication year - 2016
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.3381
Subject(s) - control theory (sociology) , invertible matrix , nonlinear system , controller (irrigation) , bounded function , manifold (fluid mechanics) , saturation (graph theory) , mathematics , sliding mode control , upper and lower bounds , computer science , control (management) , engineering , mathematical analysis , physics , artificial intelligence , pure mathematics , combinatorics , mechanical engineering , agronomy , biology , quantum mechanics
Summary This paper considers the nonsingular terminal sliding mode (TSM) controller design for a nonlinear second‐order system subject to input saturation. A new nonsingular TSM manifold is constructed by integrating the conventional nonsingular TSM manifold with a saturation function. When the bound of the uncertainty is known, based on the designed TSM manifold, a saturated controller can be designed directly for the nonlinear system. When the bound of the uncertainty is unknown, a disturbance observer is first employed to estimate the uncertainty, followed by constructing a composite controller consisting of a bounded feedback controller and a forward compensator. Theoretical analysis shows that under the proposed two control methods, the states of the closed‐loop system will both converge to zero in finite time. Simulation results demonstrate the effectiveness of the proposed methods. Copyright © 2015 John Wiley & Sons, Ltd.