Nonsingular Terminal Sliding Mode Control of Uncertain Multivariable Systems

Abstract

This paper proposes a nonsingular terminal sliding mode control for uncertain multivariable systems with parameter uncertainties or disturbances. A hierarchical control structure is utilized for simplifying the controller design. Uncertain multivariable linear systems are converted into the block controllable form consisting of two subsystems, an input-output subsystem and a stable internal dynamic subsystem. In order to guarantee fast convergence and better tracking precision, a nonsingular terminal sliding mode manifold is proposed for the input-output subsystem. To eliminate the chattering phenomenon, a continuous nonsingular terminal sliding mode control law is designed using the second-order sliding mode approach. Under the proposed controllers, the states of the input-output subsystem can be driven to converge to zero asymptotically and the stability of the zero-dynamics of the system is guaranteed. The simulation results are presented to validate the design