Robust terminal sliding mode control for high-order feedback nonlinear systems

In this paper, a robust terminal sliding mode controller (RTSMC) is proposed for a class of high-order feedback uncertain nonlinear systems. Utilizing the dynamic surface control method, the terminal sliding surfaces with the initial states on them are presented independently. All the sliding phases run parallel to increase the system response speed. The robust compensation signals are constructed to eliminate the influence of uncertainties thoroughly. Thereafter, the proposed approach guarantees the finite-time stabilization of tracking errors and improves the system robustness. Simulation results demonstrate the validity and advantage of the proposed controller.