ABSTRACT
Uncertainties cannot be included in such an exogenous model for disturbance, which restricts the application of the results in [31, 85, 144] (also in all other literature where the exogenous system is assumed to have a precise model). In addition, variable structure systems (VSSs) are well known for their robustness to system parameter variations and external disturbances [141, 196]. A particular interesting aspect of VSS is the sliding mode control, which is designed to drive and constrain the system states to lie within a neighborhood of the prescribed switching manifolds which exhibit desired dynamics. When in the sliding mode, the closed-loop response becomes totally insensitive to both internal parameter uncertainties and external disturbances. Compared with linear hyperplane based on sliding modes, terminal sliding mode (TSM) offers some superior properties such as fast, finite time convergence (e.g., [54, 192, 207]). The TSM controller is particularly useful for high precision control as it speeds up the rate of convergence near an equilibrium point.
