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Adaptive Vector Nonsingular Terminal Sliding Mode Control for a Class of n-Order Nonlinear Dynamical Systems with Uncertainty

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  • Nannan Shi
  • Zhikuan Kang
  • Zhuo Zhao
  • Qiang Meng

Abstract

This paper proposed an adaptive vector nonsingular terminal sliding mode control (NTSMC) algorithm for the finite-time tracking control of a class of n-order nonlinear dynamical systems with uncertainty. The adaptive vector NTSMC incorporates a vector design idea and novel adaptive updating laws based on the commonly used NTSMC, which consider the common existence of the degree-of-freedom (DOF) directional differences and eliminate the chattering problem. The closed-loop stability of the n-order nonlinear dynamical systems under the adaptive vector NTSMC is demonstrated using Lyapunov direct method. Simulations performed on a two-degree-of-freedom (DOF) manipulator are provided to illustrate the effectiveness and advantages of the proposed adaptive vector NTSMC by comparing with the common NTSMC.

Suggested Citation

  • Nannan Shi & Zhikuan Kang & Zhuo Zhao & Qiang Meng, 2020. "Adaptive Vector Nonsingular Terminal Sliding Mode Control for a Class of n-Order Nonlinear Dynamical Systems with Uncertainty," Mathematical Problems in Engineering, Hindawi, vol. 2020, pages 1-12, March.
    • Handle: RePEc:hin:jnlmpe:7309417
    DOI: 10.1155/2020/7309417
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