Continuous Integral Terminal Sliding Mode Control for a Class of Uncertain Nonlinear Systems

In this paper, the continuous integral terminal sliding mode control problems for a class of uncertain nonlinear systems is investigated. First of all, based on homogeneous system theory, a global finite-time control (FTC) law with simple structure is proposed for a chain of integrators. Then, inspired by the proposed FTC law, a novel integral terminal sliding mode surface is designed, based on which an integral terminal sliding mode control (ITSMC) law is constructed for a class of higher-order nonlinear systems subjected to disturbances. Furthermore, a finite-time disturbance observer based ITSMC law is proposed, strict theoretical analysis shows that the composite ITSMC approach can eliminate chattering completely without losing disturbance attenuation ability and performance robustness of ITSMC. A simulation example is given to illustrate the simplicity of the new design approach and effectiveness.