This paper proposes a continuous nonsingular terminal sliding mode (NTSM) control approach for nonlinear systems subject to mismatched terms in order to achieve finite time exact tracking and disturbance rejection. The controller is constructed using a composite method that utilizes a power integrator and combines the output regulation theory, disturbance observation technique, feedback domination, and sliding mode control technique. The performance analysis demonstrates that the proposed continuous NTSM controller can drive the system output to the desired reference signal in a finite time in the presence of mismatched time-varying disturbances and nonsmoothed nonlinearities in each channel. The finite time Lyapunov theory is utilized to ensure finite-time convergence of the closed-loop system. The simulation results validate the effectiveness of the proposed continuous NTSM controller.

中文翻译：

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失配项下非线性系统的连续非奇异终端滑模控制

本文针对失配项下的非线性系统提出了一种连续非奇异终端滑模（NTSM）控制方法，以实现有限时间精确跟踪和干扰抑制。该控制器采用复合方法构建，该方法利用功率积分器并结合了输出调节理论、扰动观测技术、反馈控制和滑模控制技术。性能分析表明，在每个通道中存在不匹配的时变扰动和非平滑非线性的情况下，所提出的连续 NTSM 控制器可以在有限时间内将系统输出驱动到所需的参考信号。利用有限时间李雅普诺夫理论来保证闭环系统的有限时间收敛。