Terminal sliding mode control for a class of nonlinear systems
一类非线性系统的Terminal滑模控制

Combined with the basic idea of terminal sliding mode control,which supervises the normal linear sliding mode control,the nonlinear term is introduced into the design of the sliding mode such that the state variable of the sliding mode tends to zero in the finite time in the phase of sliding mode motion.A high-order nonlinear terminal sliding mode surface is derived,which is described by a series of mathematical statements.The controller is obtained based on the theory of Lyapunov stability.Considering the uncertainties,such as parameter variation and disturbances,the terminal sliding mode control with a simple (parameter) adaptive law is derived on the basis of the theory of Lyapunov stability.