Fast Terminal Sliding Mode Control based on Super-twisting Algorithm for Trajectory Tracking Control of Uncertain Nonlinear Systems

Duc Long Hoang

Abstract


This paper presents a new approach for designing a fast terminal sliding mode control based on the super-twisting algorithm for uncertain nonlinear systems. The proposed control combines the advantages of fast terminal sliding mode control and the super-twisting algorithm to achieve rapid convergence, robustness, and chattering reduction in the control of nonlinear systems. The fast terminal sliding mode control law is designed to drive the system state to a sliding surface in finite time, while the super-twisting algorithm provides effective control action near the sliding surface to further enhance system performance. The theoretical framework of the control design is presented, along with stability analysis using Lyapunov functions and simulation results with an inverted pendulum on a cart to demonstrate the effectiveness of the proposed approach. Comparative studies with the conventional sliding mode control method and the fast terminal sliding mode control highlight the superior performance of the fast terminal sliding mode control based on the super-twisting algorithm. The proposed control strategy shows promise for applications in uncertain nonlinear systems where fast and precise control is required.

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References


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