Dead-beat terminal sliding-mode control: A guaranteed attractiveness approach

Abstract This paper presents a design method of terminal sliding mode control with the guaranteed attractiveness, for which the tracking performance of the closed-loop system undertaken is governed by a discretized finite-time system (FTS). To alleviate chattering effectively, this paper conducts the controller derivation according to the dead-beat reaching law that defines the sliding variable with the smoothing exponential-rate FTS in discrete-time. The closed-loop performance improvement is accomplished by applying a finite-difference uncertainty observer, and embedding the measure of uncertainty compensation in the error dynamics. The steady-state error band, absolute attracting layer and the monotone decreasing region of the error dynamics are derived in detail. The experimental result verifies not only the ease and efficiency in controller design, by the discretized FTS approach, but also the attractiveness and robustness properties assured in the closed-loop system.