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Adaptive super-twisting terminal sliding mode control for nonlinear systems with multiple inputs

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Abstract

This paper presents an adaptive super-twisting terminal sliding mode control for uncertain nonlinear systems with multiple inputs. Based on Lyapunov stability theory, the stability of overall uncertain nonlinear system is guaranteed. Under the proposed method, the trajectory of states not only converges to zero in finite time, but also the chattering phenomenon is alleviated without reducing the accuracy of the system performance. Unlike the previous super-twisting algorithm, the proposed method can be applied to higher order uncertain nonlinear systems with multiple inputs, which is more flexible in the application. Finally, the simulation results are given to demonstrate the effectiveness of the proposed method.

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Authors and Affiliations

  1. Department of Automation Engineering, Nan Kai University of Technology, Nantou, Taiwan, ROC

    Ming-Chang Pai

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  1. Ming-Chang Pai
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Correspondence to Ming-Chang Pai.

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Pai, MC. Adaptive super-twisting terminal sliding mode control for nonlinear systems with multiple inputs. Int. J. Dynam. Control 8, 666–674 (2020). https://doi.org/10.1007/s40435-019-00593-y

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  • DOI: https://doi.org/10.1007/s40435-019-00593-y

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