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. Lya-punov 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.
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This work was supported by the Ningbo City College grand Science and the 2022 Opening fund for HUBEI KEY LABORATORY OF DIGITAL TEXTILE EQUIPMENT (DTL2022004).
Dao-Gen Jiang received his M.S. degree from Electrical and Information Engineering College in Jiangsu University of China, Jiang Su, China, in 2010. Currently he is working as a scientific researcher and a lecturer in Information & Intelligent Engineering Department of Ningbo City College of Vocational Technology, Ningbo, China. His research interests include sliding mode control, adaptive control, prescribed performance control, and complex system control.
Long-Jin Lv received his Ph.D. degree from Fudan University and major in fractional differential equations and control theory. At present, he is engaged in teaching and scientific research in the Economics and Information College in Ningbo University of Finance and Economics of China. His current research interests include fractional differential control.
Wei Jiang holds his Ph.D. degree from Wuhan University and major in mechanical and electronic engineering. At present, he is engaged in teaching and scientific research in the School of Mechanical Engineering and Automation, Wuhan Textile University, China. His current research interests include robot technology and system, intelligent control, robust control, and complex system control.
Xiao-Dong Zhu received his Ph.D. degree from Computer Application Technology of Shanghai University in China. At present, he is engaged in teaching and scientific research in Information & Intelligent Engineering Department of Ningbo City College of Vocational Technology, Ningbo, China. His research interests include video and image analysis, and artificial intelligence.
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Jiang, DG., Lv, LJ., Jiang, W. et al. Nonsingular Fast Terminal Sliding Mode Control for Uncertain Nonlinear Systems Based on Adaptive Super-twisting Sliding Mode Disturbance Observer. Int. J. Control Autom. Syst. 21, 3210–3223 (2023). https://doi.org/10.1007/s12555-022-0492-y
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DOI: https://doi.org/10.1007/s12555-022-0492-y