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Mathematical Problems in Engineering
Volume 2016, Article ID 1743861, 12 pages
Research Article

A New Fast Nonsingular Terminal Sliding Mode Control for a Class of Second-Order Uncertain Systems

School of Automation, Beijing Institute of Technology, Zhongguancun Street, Haidian District, Beijing, China

Received 12 July 2016; Revised 30 October 2016; Accepted 15 November 2016

Academic Editor: Asier Ibeas

Copyright © 2016 Linjie Xin 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 considers the robust and adaptive nonsingular terminal sliding mode (NTSM) control for a class of second-order uncertain systems. First, a new fast NTSM was proposed which had global fast convergence rate in the sliding phase. Then, a new form of robust NTSM controller was designed to handle a wider class of second-order uncertain systems. Moreover, an exponential-decline switching gain was introduced for chattering suppression. After that, a double sliding surfaces control scheme was constructed to combine the NTSM control with the adaptive technique. The benefit is that a strict demonstration can be given for the stagnation problem in the stability analysis of NTSM. Finally, a case study for tracking control of a variable-length pendulum was performed to verify the proposed controllers.