Terminal sliding-mode control for a class of nth-order multi-input multi-output nonlinear system with uncertain parameters
一类具有参数不确定n阶多输入多输出非线性系统的Terminal滑模控制

A terminal sliding-mode control scheme is proposed for a class of nth-order MIMO nonlinear systems with uncertain parameters. Through the sliding hyperplane selection and the terminal sliding-mode control law design, the proposed control scheme not only guarantees that the sliding phase of the closed-loop system always exists, but also ensures that the output tracking error converges to zero in finite time. Meanwhile, since the initial state of system is always on the terminal sliding surface, the control scheme can eliminate the reaching phase of the other sliding-mode control and guarantee the global robustness and stability of the closed-loop system. In addition, it also solves the coupling problem between the coefficient function matrix of the control input and the uncertain parameters. Simulation results indicate that the proposed control scheme can eliminate the effect of the external disturbances and uncertain parameters on the system and control the state variables to track the desired states efficiently.