A1 Journal article (refereed), original research

Integral non-singular terminal sliding mode controller for nth-order nonlinear systems

Open Access publication

Publication Details
Authors: Mohammadi Asl Reza, Shabbouei Hagh Yashar, Palm Rainer, Handroos Heikki
Publisher: Institute of Electrical and Electronics Engineers (IEEE): OAJ / IEEE
Publication year: 2019
Language: English
Related Journal or Series Information: IEEE Access
eISSN: 2169-3536
JUFO-Level of this publication: 2
Open Access: Open Access publication


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 Lyapunov stability theory. The proposed controller is applied to a robotic manipulator as a case study for second-order systems, and to a servo-hydraulic system as a case study for third-order systems. The results are presented and discussed.

Last updated on 2020-20-03 at 10:03