Fast terminal sliding mode controller design for nonlinear second-order systems with time-varying uncertainties

This article investigates a novel fast terminal sliding mode control approach combined with global sliding surface structure for the robust tracking control of nonlinear second-order systems with time-varying uncertainties. The suggested control technique is formulated based on the Lyapunov stability theory and guarantees the existence of the sliding mode around the sliding surface in a finite time. Using the new form of switching surface, the reaching phase elimination and the robustness improvement of the whole system are satisfied. Simulation results demonstrate the efficiency of the proposed technique. (c) 2014 Wiley Periodicals, Inc.