Adaptive Dynamic Terminal Sliding Mode Control Method

An adaptive dynamic terminal sliding mode control method is presented for nonlinear systems with parameter uncertainty and external disturbance. The method estimates the boundary of parameter uncertainty and external disturbance by adaptive law. Terminal sliding mode control strategy is employed to make tracking error converge to zero in finite time. A novel sliding differential dynamic surface is designed to attenuate the chatting. The simulation results in the permanent magnet synchronous motor (PMSM) show that the method proposed attenuate the chatting availably, the convergence rate is fast, and a strong robustness can be achieved.