Abstract:

An exponential fast terminal sliding mode control methodology for a class of uncertain multivariable linear systems is proposed. The nonlinear exponential fast terminal sliding mode hypersurface and variable structure control law are designed. The uncertain system is transformed into a certain canonical form by using nonsingular linear transformation, then the corresponding nonlinear terminal sliding mode hypersurface is designed and the selection of parameter matrices in the sliding mode hypersurface is given. Based on it, the variable structure control law is derived. The system state variables can be driven to reach the sliding hypersurface in finite time, then retain on the sliding hypersurface and converge to the equilibrium point in finite time according to the motion law of exponential fast terminal sliding mode. Compared with the ordinary fast terminal sliding mode control, the system state variables can reach the equilibrium point in shorter time. This method can get global stability and robustness. Simulation results prove the validity of the proposed method.