Designing an Adaptive Continuous Terminal Sliding Mode Controller for a Class of Nonlinear Systems in Presence of Perturbation

Authors

Department of Electrical and computer Engineering, Babol Noshirvani University of Technology, Babol, Iran

Abstract

In this paper, an adaptive continuous terminal sliding mode controller is proposed for a class of second-order time varying perturbed systems with unknown parameters. In the proposed method, the controller is a combination of  continuous terminal sliding mode control and adaptive control. The convergence of the proposed method is based on a continuously-differentiable, homogeneous and strict Lyapunov function, and the unknown parameter of the system is estimated by an adaptive law. Zero-error convergence  of the proposed method is attained with information about the output and its derivative; furthermore, in this method, perturbation is compensated and a continuous control signal is generated which reduces the chattering. The simulation results show proper performance of the proposed method.

Keywords

References

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