This paper considers the robust and adaptive nonsingular terminal sliding mode (NTSM) control for a class of second-order\nuncertain systems. First, a new fast NTSM was proposed which had global fast convergence rate in the sliding phase. Then, a\nnew form of robust NTSM controller was designed to handle a wider class of second-order uncertain systems. Moreover, an\nexponential-decline switching gain was introduced for chattering suppression. After that, a double sliding surfaces control scheme\nwas constructed to combine the NTSM control with the adaptive technique.The benefit is that a strict demonstration can be given\nfor the stagnation problem in the stability analysis of NTSM. Finally, a case study for tracking control of a variable-length pendulum\nwas performed to verify the proposed controllers.
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