Finite-time control of a class of MIMO nonlinear systems using high order integral sliding mode control

A novel higher-order sliding mode control algorithm is presented for a class of MIMO uncertain nonlinear systems. This problem can be viewed as the finite-time stabilization of an r^th - order input-output dynamical system with bounded uncertainties. The developed control strategy gives a control based on geometric homogeneity with an additional integral sliding mode term. The additional sliding mode controller part completely dismisses the influence of uncertainties from the initial time instant. The algorithm has been applied for a robust control of a hovercraft vessel model. The simulation results show robustness to parameter variations and uncertainties in the dynamics