Nonsingular Fast Terminal Sliding Mode Control with Extended State Observer and Tracking Differentiator for Uncertain Nonlinear Systems

<div>TSM surface function <svg height="6.42315pt" id="M323" style="vertical-align:-0.2129903pt" version="1.1" viewbox="-0.0498162 -6.21016 5.19924 6.42315" width="5.19924pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.0135,0,0,-0.0135,0,0)"><path d="M352 391C352 416 319 448 267 448C236 448 173 423 147 400C107 364 96 332 96 304C96 248 143 210 193 181C241 153 258 124 258 100C258 72 232 38 184 38C151 38 107 66 81 108C77 114 64 116 55 111C34 99 23 84 23 65C23 29 81 -12 134 -12C220 -12 325 61 325 141C325 184 297 215 234 256C194 282 161 309 161 346C161 380 188 401 217 401C255 401 279 380 301 353C308 344 313 341 325 347C341 355 352 371 352 391Z" id="g113-116"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="375" vert-adv-y="375"></glyph.data></g></svg> comparison under three NTSM control methods.</div>

Mathematical Problems in Engineering

fig4

Figure 4

Figure 4: Nonsingular Fast Terminal Sliding Mode Control with Extended State Observer and Tracking Differentiator for Uncertain Nonlinear Systems 