Authors: Xinghuo Yu; Yong Feng; Zhihong Man

Extended Abstract:

Sliding mode control (SMC) has been a popular control technology due to its simplicity and robustness against uncertainties and disturbances since its inception more than 60 years ago. Its foundation of stability and stabilization is built on the principle of the Lyapunov theory, which ascertains asymptotic stability. In the 1990s, a novel class of SMC called the terminal sliding mode control (TSMC) was proposed, which has been studied extensively, giving rise to a robust control with tunable finite-time convergence to deliver fast response, high precision, and strong robustness. The benefit of TSMC is brought out by using a simple fractional power to ramp up the control force to accelerate convergence when near the target. In recent years, interest in this control technology has been increasing. The uptake of TSMC was reported in many applications such as control of an upper limb exoskeleton, ankle movement using functional electrical stimulation of agonist-antagonist muscles, spacecraft altitude control, missile guidance, control of near space hypersonic vehicles, robots, renewable energy and storage systems, power electronics and power systems, to name just a few. This paper provides an overview of the state of the art of the TSMC theory and applications, including essential features and characteristics, major theories and methods, as well as critical issues and challenges for its future developments in cyber-physical environments.


This paper has been published in IEEE Open Journal of the Industrial Electronics Society

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