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Mathematical Problems in Engineering
Volume 2013, Article ID 384921, 10 pages
Research Article

Fractional-Order Fast Terminal Sliding Mode Control for a Class of Dynamical Systems

Modern Manufacture Engineering Center, Heilongjiang University of Science and Technology, Harbin 150027, China

Received 29 June 2013; Accepted 13 November 2013

Academic Editor: Guanghui Sun

Copyright © 2013 Guoliang Zhao. 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.


This paper introduces a novel fractional fast terminal sliding mode control strategy for a class of dynamical systems with uncertainty. In this strategy, a fractional-order sliding surface is proposed, the corresponding control law is derived based on Lyapunov stability theory to guarantee the sliding condition, and the finite time stability of the closeloop system is also ensured. Further, to achieve the equivalence between convergence rate and singularity avoidance, a fractional-order nonsingular fast terminal sliding mode controller is studied and the stability is presented. Finally, numerical simulation results are presented to illustrate the effectiveness of the proposed method.