Integral Non-Singular Terminal Sliding Mode Controller for nth-Order Nonlinear Systems

• In this study, a new integral non-singular terminal sliding mode control method for nonlinear systems is introduced. The proposed controller is designed by defining a new sliding surface with an additional integral part. This new manifold is first introduced into the second-order system and then expanded to nth-order systems. The stability of the control system is demonstrated for both second-order and nth-order systems by using the Lyapunov stability theory. The proposed controller is applied to a robotic manipulator as a case study for second-order systems, and a servo-hydraulic system as a case study for third-order systems. The results are presented and discussed.

Ämnesord

NATURVETENSKAP  -- Data- och informationsvetenskap -- Datavetenskap (hsv//swe)

NATURAL SCIENCES  -- Computer and Information Sciences -- Computer Sciences (hsv//eng)

Nyckelord

Integral non-singular terminal sliding mode controller

Lyapunov stability

robotic manipulator

servo-hydraulic system

trajectory tracking

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