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Global Finite Time Stabilization of a Class of Uncertain MIMO Nonlinear Systems
, Article Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME ; Volume 138, Issue 2 , 2016 ; 00220434 (ISSN) ; Moravej Khorasani, M ; Haeri, M ; Sharif University of Technology
American Society of Mechanical Engineers (ASME)
Abstract
It is aimed to obtain global finite time stabilization of a class of uncertain multi-input-multi-output (MIMO) nonlinear systems in the presence of bounded disturbances by applying nonsingular terminal sliding mode controllers. The considered nonlinear systems consist of double integrator subsystems which interact with each other. In the proposed methods, new terminal sliding surfaces are introduced along with design of proper control inputs. The terminal sliding surfaces are defined such that the global finite time stability of sliding mode dynamic is attained. The control inputs are designed to steer the states into sliding motion within finite time and retain them on the terminal sliding...