Barrier function-based adaptive nonsingular terminal sliding mode control technique for a class of disturbed nonlinear systems

Abstract

In this article, an adaptive non-singular terminal sliding mode controller (NTSMC) is designed based on a barrier function for the robust stability of a category of non-linear dynamic systems in the existence of the external disturbances. The planned approach implements a non-singular terminal sliding mode controller (NTSMC) to ensure robust performance with finite time convergence and singularity-free dynamics. It also uses Barrier Functions (BFs) as an adaptation approach for the NTSMC to attain the tracking errors' convergence to a pre-defined neighbourhood of origin, with a controller gain that is not over-estimated and without requiring any knowledge about the upper bounds of disturbances. The Lyapunov-based stability analysis is carried out to confirm the asymptotic convergence of tracking errors to a pre-defined neighbourhood of zero. The effectiveness and performance of the planned approach is illustrated through simulations and experiments.

Keywords: Adaptive-tuning; External disturbance; Finite-time convergence; Nonsingular control; Sliding mode control.