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Journal of Control Science and Engineering
Volume 2019, Article ID 8146901, 17 pages
Research Article

Nonsingular Fast Terminal Sliding Mode Tracking Control for a Class of Uncertain Nonlinear Systems

College of Information Engineering, Xiangtan University, Xiangtan 411105, China

Correspondence should be addressed to Wei Liu; moc.qq@759213106

Received 19 January 2019; Revised 18 April 2019; Accepted 30 April 2019; Published 30 May 2019

Academic Editor: Radek Matušů

Copyright © 2019 Siyi Chen et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Aiming at the tracking control problem of a class of uncertain nonlinear systems, a nonsingular fast terminal sliding mode control scheme combining RBF network and disturbance observer is proposed. The sliding mode controller is designed by using nonsingular fast terminal sliding mode and second power reaching law to solve the problem of singularity and slow convergence in traditional terminal sliding mode control. By using the universal approximation of RBF network, the unknown nonlinear function of the system is approximated, and the disturbance observer is designed by using the hyperbolic tangent nonlinear tracking differentiator (TANH-NTD) to estimate the interference of the system and enhance the robustness of the system. The stability of the system is proved by the Lyapunov principle. The numerical simulation results show that the method can shorten the system arrival time, improve the tracking accuracy, and suppress the chattering phenomenon.