Nonsingular Fast Terminal Sliding Mode Control for Uncertain Nonlinear Systems Based on Adaptive Super-twisting Sliding Mode Disturbance Observer

다국어 초록 (Multilingual Abstract)

This paper presents a new nonsingular fast terminal sliding mode back-stepping control (BSC) for uncertain nonlinear systems subjected to unknown mismatched disturbance based on an adaptive super-twisting sliding mode nonlinear disturbance observer (ASTSM-NDO). The proposed algorithms utilize BSC technique to manage high-order uncertainty systems by compounding the dynamic surface control (DSC) architecture to get rid of ‘complexity explosion’. To cope with the unknown upper-bound mismatched disturbance, an adaption law is devised by finite time stability ASTSM-NDO designation. Besides, in the last step, the actual control scheme is designed by an integral nonsingular fast terminal sliding mode control algorithms combined with disturbance estimation and uncertainty adaption law to eliminate the influence of modeling error and mismatched interference on systems. Lyapunov stability theory is applied to prove that the tracking deviation of the whole system is uniformly and ultimately bounded. Finally, two examples are simulated by comparing the derived outcomes with existing method to verify the effectiveness and feasibility of the devised methodology.