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Mathematical Problems in Engineering
Volume 2013 (2013), Article ID 636494, 11 pages
Research Article

Integral Terminal Sliding Mode Control for a Class of Nonaffine Nonlinear Systems with Uncertainty

School of Electrical Engineering, University of Jinan, Jinan 250022, China

Received 18 October 2013; Accepted 8 December 2013

Academic Editor: Xiaojie Su

Copyright © 2013 Qiang Zhang 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.


This paper is concerned with an integral terminal sliding mode tracking control for a class of uncertain nonaffine nonlinear systems. Firstly, the nonaffine nonlinear systems is approximated to facilitate the desired control design via a novel dynamic modeling technique. Next, for the unmeasured disturbance of nonlinear systems, integral terminal sliding mode disturbance observer is presented. The developed disturbance observer can guarantee the disturbance approximation error to converge to zero in the finite time. Subsequently, based on approximated nonlinear model and the designed disturbance observer, the integral terminal sliding mode tracking control is presented for nonaffine nonlinear systems with uncertainty. Different from traditional terminal sliding-mode control, this paper accomplishes finite convergence time for nonaffine nonlinear systems and avoids the singular problem in the controller design. Furthermore, the control system is forced to start on the terminal sliding hyperplane, so that the reaching time of the sliding modes is eliminated. Finally, two numerical simulation results are given to illustrate the effectiveness of the proposed method.