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Adaptive terminal sliding mode control for high-order nonlinear dynamic systems.

Kai-yu Zhuang1, Hong-ye Su, Ke-qin Zhang

  • 1National Lab. of Industrial Control Technology, Institute of Advanced Process Control, Zhejiang University, Hangzhou 310027, China.

Journal of Zhejiang University. Science
|March 27, 2003
PubMed
Summary

This study introduces an adaptive terminal sliding mode control (SMC) for high-order nonlinear systems. The novel method ensures output tracking errors converge to zero in finite time, guaranteeing system stability.

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Area of Science:

  • Control Engineering
  • Nonlinear Systems Theory
  • Adaptive Control

Background:

  • High-order nonlinear dynamic systems present significant control challenges.
  • Traditional control methods often struggle with uncertainties and achieving finite-time convergence.
  • Tracking control is crucial for many advanced engineering applications.

Purpose of the Study:

  • To develop a novel adaptive terminal sliding mode control (SMC) strategy.
  • To address the tracking problem in high-order nonlinear dynamic systems.
  • To achieve finite-time convergence of output tracking errors.

Main Methods:

  • Design of a function augmented sliding hyperplane for a new terminal sliding mode.
  • Application of Lyapunov theory for controller design.

Related Experiment Videos

  • Introduction of an adaptive mechanism to estimate unknown system uncertainties.

    • Main Results:

    • The proposed terminal SMC controller forces state variables onto the sliding mode.
    • Output tracking errors converge to zero in finite, arbitrarily settable time.
    • An adaptive mechanism effectively eliminates the effects of uncertain dynamics.

    Conclusions:

    • The adaptive terminal SMC strategy guarantees closed-loop system stability.
    • The method demonstrates effectiveness in simulations for high-order nonlinear systems.
    • This approach offers a robust solution for complex tracking control problems.