A Further Study on Terminal Sliding Mode Control for Nonlinear Systems
Abstract
In this paper, a unified terminal sliding mode (UTSM) control method is proposed for second-order nonlinear systems with uncertainties and disturbances. It is seen that the newly defined terminal sliding surface is integrated with both conventional and fast terminal sliding mode and exhibits design advantages such as a variable exponent, adjustable sliding mode parameters, and chattering-alleviation effect. The inherent dynamic properties of the closed-loop systems with the UTSM control are discussed in detail via the phase plane and Lyapunov stability theory. Both numerical simulations and experimental results show the flexible sliding manifold design, strong robustness against uncertain dynamics, and effective attenuation of chattering phenomenon.
Fields of Study & Subjects
Adaptive Control of Nonlinear Systems
Control and Dynamics of Mobile Robots
Dynamics and Control of Mechanical Systems
Publication details
- Journal / source
- IEEE/CAA Journal of Automatica Sinica
- Publisher
- Institute of Electrical and Electronics Engineers (IEEE)
- Volume
- 13
- Issue
- 1
- Pages
- 43–56
- Publication date
- 1 January 2026