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JACIII Vol.21 No.3 pp. 518-526
doi: 10.20965/jaciii.2017.p0518
(2017)

Paper:

Adaptive Fast Terminal Sliding Mode Control for a Class of Uncertain Systems with Input Nonlinearity

Linjie Xin*, Qinglin Wang*, Yuan Li*, and Jinhua She**

*School of Automation, Beijing Institute of Technology
Zhongguancun Street, Haidian District, Beijing 100081, China
**School of Engineering, Tokyo University of Technology
1404-1 Katakura, Hachioji, Tokyo 192-0982, Japan

Received:
September 16, 2016
Accepted:
February 6, 2017
Online released:
May 19, 2017
Published:
May 20, 2017
Keywords:
adaptive control, terminal sliding mode control, input nonlinearity
Abstract

This study investigates the terminal sliding mode (TSM) control for a class of first-order uncertain systems with dead-zone and saturation. First, a new adaptive TSM control law was proposed for the single-input and single-output (SISO) systems by employing an integral fast TSM. It achieves rejection for both system uncertainty and input nonlinearity. The global reaching condition of the sliding mode is guaranteed by the Lyapunov stability theory. The new control law possesses faster convergence than the linear sliding mode method, and the singularity problem of TSM is avoided. Then, the control law was extended for tracking control of a dynamic model of spacecraft which was a multi-input and multi-output (MIMO) system. Finally, the simulation results confirmed the effectiveness of the proposed control method.

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Last updated on May. 26, 2017