Terminal sliding mode control design for uncertain dynamic systems

A terminal sliding mode control design scheme for uncertain dynamic systems in the pure-feedback form is presented in this paper. This design employs a recursive procedure which utilizes a set of switching manifolds to realize finite time convergence. To avoid a singularity problem, the scheme uses two-phase control: one phase is a preterminal sliding mode control that transfers the trajectory to a specified open region in which the terminal sliding mode control is not singular. Inside the region, the other phase – the terminal sliding mode control takes place bringing the state to the origin in finite time.