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Research Papers

Adaptive Dynamic Surface Based Nonsingular Fast Terminal Sliding Mode Control for Semistrict Feedback System

[+] Author and Article Information
Hao Li1

 School of Automation, Beijing Institute of Technology, Beijing 100081, Chinamail: lhnewmind@yahoo.comKey Laboratory of Complex System Intelligent Control and Decision,  Beijing Institute of Technology,Ministry of Education, Beijing 100081, Chinamail: lhnewmind@yahoo.comKey Laboratory of Modern Measurement & Control Technology,  Beijing Information Science & Technology University,Ministry of Education, Beijing 100101, Chinamail: lhnewmind@yahoo.com

Lihua Dou, Zhong Su

 School of Automation, Beijing Institute of Technology, Beijing 100081, ChinaKey Laboratory of Complex System Intelligent Control and Decision,  Beijing Institute of Technology,Ministry of Education, Beijing 100081, ChinaKey Laboratory of Modern Measurement & Control Technology,  Beijing Information Science & Technology University,Ministry of Education, Beijing 100101, China

1

Corresponding author.

J. Dyn. Sys., Meas., Control 134(2), 021011 (Jan 03, 2012) (9 pages) doi:10.1115/1.4005373 History: Received May 03, 2011; Revised September 28, 2011; Published January 03, 2012; Online January 03, 2012

This paper focuses on an adaptive dynamic surface based nonsingular fast terminal sliding mode control (ADS-NFTSMC) for a class of nth-order uncertain nonlinear systems in semistrict feedback form. A simple and effective controller has been obtained by introducing dynamic surface control (DSC) technique on the basis of second-order filters that the “explosion of terms” problem caused by backstepping method can be avoided. The nonsingular fast terminal sliding mode control is adopted in the last step of the controller design, and the error convergence rate is improved. An composite adaptive law is used to gain fast and accurate parameter estimation. Finally, simulation results are presented to illustrate the effectiveness of the proposed method.

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Copyright © 2012 by American Society of Mechanical Engineers
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Figures

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Error variable e1

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Error variable e2

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Error variable e3

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Estimates of parameters

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