Continuous nonsingular terminal sliding mode control for systems with mismatched disturbances

Jun Yang, Shihua Li, Jinya Su, Xinghuo Yu

Research output: Contribution to journalArticlepeer-review

509 Citations (Scopus)


A continuous nonsingular terminal sliding mode control approach is proposed for mismatched disturbance attenuation. A novel nonlinear dynamic sliding mode surface is designed based on a finite-time disturbance observer. The time taken to reach the desired setpoint from any initial states under mismatched disturbance is guaranteed to be finite time. In addition, the proposed method exhibits the fine properties of nominal performance recovery as well as chattering alleviation.

Original languageEnglish
Pages (from-to)2287-2291
Number of pages5
Issue number7
Early online date23 Apr 2013
Publication statusPublished - Jul 2013

Bibliographical note

Funding Information:
The work was supported in part by National Natural Science Foundation of China under Grants 61203011 and 61074013 , New Century Excellent Talents in University under grant NCET-10-0328 , Ph.D. Programs Foundation of Ministry of Education of China under Grant 20120092120031 , and Natural Science Foundation of Jiangsu Province under Grant BK2012327 . The material in this paper was not presented at any conference. This paper was recommended for publication in revised form by Associate Editor A. Pedro Aguiar under the direction of Editor André L. Tits.

Copyright © 2013 Elsevier Ltd. All rights reserved.


  • Finite-time disturbance observer
  • Mismatched disturbance
  • Nonsingular terminal sliding mode


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