Composite Terminal Sliding Mode Control for a Class of High-order Nonlinear Dynamic Systems

For a class of high-order nonlinear dynamic systems,a composite control strategy is proposed based on adaptive terminal sliding mode control and disturbance observer theory.In this control strategy,a disturbance observer is introduced to estimate system disturbance and the estimated value is used to compensate sliding mode controller outputs to restrain the unknown disturbance.For case of controller output chattering,an adaptive law based on disturbance estimator is designed.This adaptive law can achieve sliding mode controller's switching gain adjustment automatically.The Lyapunov theory is to prove the stability of this new control strategy and the simulation results show the feasibility and effectiveness of this proposed approach.