Skip to Main Content
In this paper, a new terminal sliding mode tracking control scheme is developed for a class of nonminimum phase systems with uncertainties. It is shown that, unlike conventional linear or terminal sliding mode controls, the Lyapunov stability theory in this paper is used to determine the upper and the lower bounds of the control signal and its derivative. A dynamic control signal can then be designed, subject to the bounded conditions, to drive the terminal sliding variable to converge to zero, and, on the terminal sliding mode surface, the tracking error is guaranteed to converge to zero in a finite time. A simulation example is presented in support of the proposed robust tracking control scheme.