Nonsingular fast terminal sliding-mode stabilizer for a class of uncertain nonlinear systems based on disturbance observer

Document Type : Article


1 Department of Electrical Engineering, Faculty of Engineering, University of Zanjan, Zanjan, Iran

2 Department of Mathematics, King Saud University, P.O. Box 22452, Riyadh 11495, Saudi Arabia


This paper investigates a novel nonsingular fast terminal sliding-mode control method for the stabilization of the uncertain time-varying and nonlinear thirdorder systems. The designed disturbance observer satis es the nite-time convergence of the disturbance approximation error and the suggested nite-time stabilizer assures
the presence of the switching behavior around the switching curve in the nite time. Furthermore, this approach can overcome the singularity problem of the fast terminal sliding-mode control technique. Moreover, knowledge about the upper bounds of the disturbances is not required and the chattering problem is eliminated. Usefulness and e ffectiveness of the o ffered procedure are con rmed by numerical simulation results.


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