Continuous full-order terminal sliding mode control for a class of nonlinear systems

Traditional sliding-mode control has two main problems, the singularity and chattering, which hinder its applications. This paper proposes a full-order terminal sliding mode control for a class of uncertain nonlinear systems to address these problems. During the ideal sliding motion, the nonlinear systems are forced to behave as a desirable full-order dynamics rather than a reduced-order dynamics. The output signals of the proposed controllers are continuous, which attenuates the chattering. The singularity in the terminal sliding-mode control is avoided because the control strategies do not include the derivatives of fractional power terms. The effect of the measurement and calculation errors on the systems is analyzed. The simulation results validate the proposed method.