ADAPTIVE TERMINAL SLIDING MODE CONTROL METHOD

摘要

An adaptive terminal sliding mode control method, comprising: establishing a dynamics equation of a multi-input multi-output non-linear system, determining a sliding mode surface s, introducing an n-dimensional adaptive update rate Γ̂_adaptive,n, and calculating values of a primary force/torque required to drive the non-linear system, thus ensuring convergence of the system within a limited period of time and stability. The method of the present invention enables a tracking error of the system to converge to zero within a limited amount of time, and enables online estimation of an upper uncertainty boundary value of the system, thus significantly eliminating the fluttering phenomenon to a great extent. The method of the present invention is applicable to all kinds of robot systems, aircraft systems, and other application systems which can be described as a multi-input multi-output non-linear/linear system.