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| DOI： |
| Received:September 30, 2005Revised:November 23, 2006 |
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| A novel dynamic terminal sliding mode control of uncertain nonlinear systems |
| Jinkun LIU;Fuchun SUN |
| (School of Automation Science and Electrical
Engineering, Beijing University of Aeronautics and Astronautics,
Beijing 100083, China; State Key Laboratory of Intelligent Technology and Systems, Tsinghua University,Beijing 100084, China) |
| Abstract: |
| A new dynamic terminal sliding mode control (DTSMC) technique is
proposed for a class of single-input and single-output (SISO)
uncertain nonlinear systems. The dynamic terminal sliding mode
controller is formulated based on Lyapunov theory such that the
existence of the sliding phase of the closed-loop control system can
be guaranteed, chattering phenomenon caused by the switching control
action can be eliminated, and high precision performance is
realized. Moreover, by designing terminal equation, the output
tracking error converges to zero in finite time, the reaching phase
of DSMC is eliminated and global robustness is obtained. The
simulation results for an inverted pendulum are given to demonstrate
the properties of the proposed method. |
| Key words: Terminal sliding mode control Dynamic sliding mode Robust control Inverted pendulum |
