Reliable terminal sliding mode control for uncertain high-order MIMO systems with actuator faults

摘要

This paper considers the problem of terminal sliding mode control (TSMC) for uncertain MIMO systems in which the actuator faults may happen in any channel of actuators. By means of state transformation and exponent-logarithmic sliding surface method, a reliable TSMC is proposed such that both the finite-time stability of sliding mode dynamics and the reachability of sliding surface are ensured, despite actuator faults and parameter uncertainties. Finally, simulation results are provided to illustrate the effectiveness of the proposed controller.