A Novel Piece-wise Non-singular Fast Terminal Sliding Mode Control for Second-order Nonlinear System

Aimed at solving the slow convergence problem of traditional non-singular fast terminal sliding mode control algorithm, this paper develops a novel piece-wise non-singular fast terminal sliding mode control algorithm by introducing the nonlinear term of the one existed control algorithm into the traditional non-singular fast terminal sliding mode. In comparison with the traditional one, the proposed approach not only maintains the advantage of avoiding singularity, but also has a faster convergence performance around the local region of equilibrium.