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Erschienen in:
Synchronized Control of Mechanical Systems: A Tutorial Kapitel lesen Erstes Kapitel lesen

2014 | OriginalPaper | Buchkapitel

4. Recent Advances in Nonsingular Terminal Sliding Mode Control Method

verfasst von : Shengbo Eben Li, Kun Deng

Erschienen in: Applied Methods and Techniques for Mechatronic Systems

Verlag: Springer Berlin Heidelberg

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Abstract

The terminal sliding mode (TSM) control method has become a hot topic in recent years due to its special merit on finite-time convergence and good robustness. One critical issue is how to balance the singularity of control law and the fast convergence of closed-loop system. The chapter reviews the research history of the singularity and introduces the recent advance on nonsingular and fast terminal sliding mode (NFTSM) control method. The synthesis of NFTSM controller synthesis is based on a newly proposed nonsingular fast terminal function and a terminal attractor with nonnegative exponential coefficient. Both theoretical analyses and computer simulations have proved its effectiveness under the condition that plant uncertainties are bounded.

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Vorheriges Kapitel Synthesis of an Advanced State Feedback Control for Continuous Nonlinear Polynomial Systems
Nächstes Kapitel Flocking Behavior via Leader’s Backstepping on Nonholonomic Robot Group
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Metadaten
Titel
Recent Advances in Nonsingular Terminal Sliding Mode Control Method
verfasst von
Shengbo Eben Li
Kun Deng
Copyright-Jahr
2014
Verlag
Springer Berlin Heidelberg
Buch
Applied Methods and Techniques for Mechatronic Systems

Print ISBN: 978-3-642-36384-9

Electronic ISBN: 978-3-642-36385-6

Copyright-Jahr: 2014

DOI
https://doi.org/10.1007/978-3-642-36385-6_4

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