Disturbance-observer-based fuzzy terminal sliding mode control for MIMO uncertain nonlinear systems (Q2310583)

Tracking control of multiple-input multiple-output uncertain nonlinear systems is considered. A terminal sliding mode observer is designed and conditions are found guaranteeing that the disturbance estimation error converges to zero in finite time. A terminal sliding surface is introduced, and using a suitable control law it is shown that the tracking error signals of the closed loop system converges to zero in finite time. The same conclusion holds with unsymmetrical input saturation and control singularity. An application is presented.