Continuous nonsingular terminal sliding mode control for nonlinear systems subject to mismatched terms

This paper proposes a continuous nonsingular terminal sliding mode (NTSM) control approach for nonlinear systems subject to mismatched terms in order to achieve finite time exact tracking and disturbance rejection. The controller is constructed using a composite method that utilizes a power integrator and combines the output regulation theory, disturbance observation technique, feedback domination, and sliding mode control technique. The performance analysis demonstrates that the proposed continuous NTSM controller can drive the system output to the desired reference signal in a finite time in the presence of mismatched time-varying disturbances and nonsmoothed nonlinearities in each channel. The finite time Lyapunov theory is utilized to ensure finite-time convergence of the closed-loop system. The simulation results validate the effectiveness of the proposed continuous NTSM controller.