Discrete-Time Terminal Sliding-Mode Tracking Control With Alleviated Chattering

A tracking controller design problem for the discrete-time uncertain systems is investigated in this paper. A discrete-time terminal sliding-mode tracking controller is designed to achieve high-performance tracking with alleviated chattering phenomenon. A novel reaching-law is proposed which reduces the bandwidth of the quasi-sliding-mode domain and suppresses the chattering. Furthermore, the reaching process and the bound of the tracking error are analyzed in detail. Finally, comparative experimental results are presented to illustrate the effectiveness and advantages of the proposed strategy.