Finite time sliding mode control for time delay systems

In this paper, a terminal sliding mode control is proposed for the finite time convergence of general input-delay systems. The proposed sliding surface is given recursively by the state variables of a predictor which compensates for the input delay of the systems. The global stability of the closed-loop system is guaranteed and finite time convergence of all the signals in the system, including the control law, is proved. Although the proposed control strategy is sliding mode based, the control signal is continuous except at a single discontinuous point. The chattering phenomenon commonly associated with sliding mode control does not occur.