Continuous Full-Order Nonsingular Terminal Sliding Mode Control for Systems With Matched and Mismatched Disturbances

A continuous full-order nonsingular terminal sliding mode control method is investigated for a general dynamic system subject to both matched and mismatched disturbances in this paper. Firstly, the essential dynamics of the original system is established based on the relative degree of system, where the original mismatched disturbances are turned into matched disturbances. Then, a composite control scheme based on the finite-time observer and full-order nonsingular terminal sliding mode control approach is developed to reject the lumped disturbances. Finally, some simulation results demonstrate the effectiveness of the proposed control strategy.