A TERMINAL SLIDING MODE LEARNING CONTROL FOR A CLASS OF UNCERTAIN NON-LINEAR SYSTEMS

Rui Xia, Shouli Gao, and Dongya Zhao

Keywords

Non-linear systems, terminal sliding mode learning control, Lipschitz-like condition, exponential term

Abstract

Aiming at the tracking problem of a class of non-linear systems under uncertainties, a terminal sliding mode learning control (TSMLC) scheme with preassigned convergence time is proposed by combining the method of terminal sliding mode control (TSMC) and learning control (LC). By designing the terminal sliding surface and the learning control algorithm with the exponential term of Lyapunov function, the tracking error of the system converges to zero in a preassigned finite time. Finally, the convergence of the system is proved, and MATLAB simulation studies are carried out to verify the availability of the method.

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