Back-Stepping Fast Terminal Sliding Mode Control for Uncertain Nonlinear Systems
Aiming at the trajectory fast tracking control of non-matching uncertain nonlinear systems with unknown bounds,a nonlinear disturbance observer(NDO)back-stepping adaptive terminal sliding mode control strategy is proposed.First,the subsystem interference observer is designed to determine the compensation of unknown non-matching items,and the virtual control law in the back-stepping control is obtained by combining the Lyapunov function of the subsystem.Moreover,the command filter is used to solve the differential expansion problem caused by the derivative of virtual item.Then,the nonsingular fast terminal sliding mode surface of the system is designed and the adaptive law of modeling error uncertainty is given,and then the general control law of the system is founded to ensure fast global asymptotic stability of the total closed-loop system.Final,robot dynamics simulation shows that the type of nonlinear system can achieve stable tracking of the specified trajectory within a limited time under this control strategy,the control amount is smooth and weak chattering,and it has strong robustness for non-matching interference.
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