Decoupled nonsingular terminal sliding mode control for affine nonlinear systems

摘要

A decoupled nonsingular terminal sliding mode control (DNTSMC) approach is proposed to address the tracking control problem of affine nonlinear systems. A non-singular terminal sliding mode control (NTSMC) method is presented, in which the nonsingular terminal sliding surface is defined as a special nonsingular terminal function and the convergence time of the system states can be specified. The affine nonlinear system is firstly decoupled into linear subsystems via feedback linearization. Then, a nonsingular terminal sliding surface is defined and the NTSMC method is applied to each subsystem separately to ensure the finite time convergence of the closed-loop system. The verification example is given to demonstrate the effectiveness and robustness of the proposed approach. The proposed approach exhibits a considerable advantage in terms of faster tracking error convergence and less chattering compared with the conventional sliding mode control (CSMC).