Nonsingular fast terminal sliding-mode control for nonlinear dynamical systems

This paper investigates fast finite-time control of nonlinear dynamics using terminal sliding-mode (TSM) scheme. Some new norms of fast TSM strategies are proposed, and a faster convergence rate is established in comparison with the conventional fast TSM. A novel concept of nonsingular fast TSM, which is able to avoid the possible singularity during the control phase, is adopted in the robust high-precision control of uncertain nonlinear systems. Numerical simulation on a two-link rigid robot manipulator demonstrates the effectiveness of the proposed algorithm. Copyright (C) 2010 John Wiley & Sons, Ltd.