Initial Rectifying Attractors for Finite Time Sliding Mode Control of Nonlinear Uncertain Systems

Terminal attractors are usually used to solve the finite time tracking problem. In this paper, a novel kind of finite time attractors, referred to as initial rectifying attractors, is proposed for solving the same problem. An initial rectifying attractor is chosen to form the switching function and the variable structure controller based on the initial rectifying sliding mode is developed for a class of nonlinear uncertain systems. It is shown that the finite time tracking is achieved where the terminal time can be pre-specified. Numerical results are presented to illustrate the effectiveness of the proposed method.