Adaptive Dynamic Terminal Sliding Mode Control Method

GUO Shuai, HE Jin-bao

(School of Mechanical & Electronic Engineering and Automation of Shanghai University, Shanghai 200072, China)

Abstract: An adaptive dynamic Terminal sliding mode control method is presented for nonlinear systems with
parameter uncertainty and external disturbance. The method estimates the boundary of parameter uncertainty and
external disturbance by adaptive law. Terminal sliding mode control strategy is employed to make tracking error
converge to zero in finite time. A novel sliding differential dynamic surface is designed to attenuate the chatting. The
simulation results in the permanent magnet synchronous motor (PMSM) show that the method proposed attenuate the
chatting availably, the convergence rate is fast, and a strong robustness can be achieved.

Key words: Terminal sliding mode, adaptive, dynamic surface

1 Introduction Considering the nonlinear system as follows:

Sliding mode control (SMC) is one of the most  x i = xi +1
important approaches to handling systems with  (1)
nonlinearities and uncertainties. Generally, the linear  x n = f ( x, t ) + b( x, t )u + ∆f ( x, t ) + d ( x, t )
sliding mode has been widely used, that is, the system where i = 1,2 n − 1 ，
state variables reach the system origin asymptotically in
linear sliding mode. However, the system states in the x = [ x1 x2  xn ]T = [ x1 x 1  x1( n−1) ]T ，
sliding mode cannot converge to zero in finite time.
Recently, the terminal sliding mode control has been ∆f ( x, t ) is the uncertainty， d ( x, t ) is outer
developed to achieve finite time convergence of the disturbance ，and d ( x, t ) ≤ Dmax ，
system dynamics in the terminal sliding mode. Instead of
using linear hyper planes as the sliding surfaces, the ∆f ( x, t ) ≤ Fmax ， d ( x, t ) = 0 ， ∆f ( x, t ) = 0 .
terminal sliding mode control adopts nonlinear sliding
Define 1：Design terminal function p (t ) ，
surfaces.
In [1]-[2], terminal sliding mode is studied for p (t ) ∈ C n [0, ∞), p (t ), p (t ) p ( n ) (t ) ∈ L∞ ，
systems with nonlinearities. In [3] ， a tracking control
method is presented based on the Multi scroll chaotic where C n [0, ∞ ) is n order continuous function on
system with hysteresis nonlinear using the terminal [0, ∞) ， p (t ) is boundary on t ∈ [0, T ] ,
sliding mode control. A new terminal sliding mode
control [4] technique was developed to deal with the T (T > 0) ，and p (0) = e(0) ， p (0) = e (0) ，
tracking problem in a class of high 2order nonlinear
dynamic systems. A new design approach of an adaptive , p ( n ) (0) = e ( n ) (0)
fuzzy terminal sliding mode controller for linear systems Select terminal function p (t ) [1][10]
with mismatched time varying uncertainties is presented
in [6]. Based on the exact model of the PMSM if 0  t  T
 n a jl
}
(permanent magnet synchronous motor), finite time n
tracking controller design [7] is considered using the p (t ) = ∑ [∑ j −l + n+1 e(0) (l ) ]t j +n+1
relay switching control mechanism and the terminal j =0  t =0 T
sliding mode control scheme. The paper [8] suggests a n
1
method to approach the discrete-time terminal sliding-
mode control problem.
+ ∑ e(0) ( k ) t ( k )
In order to attenuate the chatting of sliding mode k =0 k!
control, adaptive dynamic terminal SMC is presented. if t  T p (t ) = 0
The method estimates the boundary of parameter
From define 1, parameters a jl can be obtained, see
uncertainty and external disturbance by adaptive law.
Simulation results in PMSM are included to illustrate the reference [1] and [10]。
effectiveness of the proposed adaptive dynamic terminal
sliding mode controller. 3 Dynamic terminal sliding mode
2 Models 3.1 Terminal sliding surface design
Dynamic sliding surface can be designed to be
S ( x, t ) = CE + χE − τP (t ) (2)
This work was supported by Shanghai University, Shanghai Key Laboratory ofMechanical Automation
= [e e 
where E Automation
Guo Shuai and He Jinbao are with the Mechanical & Electronic Engineering and of e
χ = [ χShanghai
( n ) Tand Robotics.
] ，University,
Shanghai 1χ 2  χ ]
, n
China( E-mail:guoshuai@shu.edu.cn, perfecthjb@163.com)
，τ = [τ 1τ 2 τ n ] ， ci 、 χ i 、τ i (i = 1,2 n) then
n
are positive constant，
∑ ci e (i+1) = cn ( xn − xnd ) + cn−1 ( x n − x nd )
X d = [ x1d x2 d  xnd ]T = [ x1d x 1d  x1(dn−1) ]T i =1
Define error vector as follows: n −2

E = X − X d = [e e e ] ( n −1) T + ∑ ci e (i +1)
i =1
where C = [c1c2 cn ] ， ci (i = 1,2 n) are
(n) T
= cn [ f ( x, t ) + b ( x, t )u + b( x, t )u + ∆f ( x, t )
positive constant, P (t ) = [ p (t ) p (t ) p (t )]
+ d ( x, t ) − x ] + c [ f ( x, t ) + b( x, t )u +
nd n −1
3.2 Dynamic terminal SMC design n −2
Theorem 1: Consider the system in (1)，under define ∆f ( x, t ) + d ( x, t ) − x nd ] + ∑ ci e (i +1)
1, if the sliding surface is designed such that (see(2)), i =1
and the control law is designed such that (see (8)), then (5)
the system (1) is stable. n n −1
Proof：Select a Lyapunov function
∑ χ l e (l ) = χ n e ( n) +∑ χ l e (l −1)
1 l =1 l =1
V ( x, t ) = S T ( x, t ) ⋅ S ( x , t )
2 = χ n [ f ( x, t ) + b( x, t )u + ∆f ( x, t ) (6)
then n −1
V ( x, t ) = S ( x, t ) ⋅ S ( x, t ) + d ( x, t ) − x nd ] + ∑ χ l e (l −1)
while l =1

e = x1( n ) − x1(dn ) = x n
(n)
− x nd , Using (4),(5) and (6) in (3)，we have
S ( x, t ) = cn b( x, t )u + J 1 + J 2 + (cn−1
e ( n+1) = x1( n+1) − x1(dn+1) = xn − xnd (7)
+ χ n )[∆f ( x, t ) + d ( x, t )]
from (2)，we get
where
S ( x, t ) = CE + χE − τP (t )
J 1 = (c n b ( x, t ) + (cn−1 + χ n )b( x, t ))u
n n k
= ∑ ci e (i ) + ∑ χ l e (l −1) + ∑τ k p ( k −1) (t ) + c f ( x, t ) + (c + χ ) f ( x, t )
n n −1 n
i =1 l =1 k =1 n−2 n −1 k
The differential equation S ( x, t ) is J 2 = ∑ ci e ( i +1)
+ ∑ χl e ( l −1)
+ ∑τ k p ( k ) (t )
S ( x, t ) = CE + χE − τP (t ) i =1 l =1 k =1

n n k
− (cn + cn−1 + χ n ) xnd
= ∑ ci e ( i +1)
+ ∑ χl e (l )
+ ∑τ k p (k )
(t ) Select control law u as
i =1 l =1 k =1 1
(3) u = − [ J1 + J 2 + (cn−1 + χ n )( Fmax
while c n b ( x, t )
n− 2
n
+ Dmax + ς ) sgn( S )]
∑ ci e ( i +1)
= cn e ( n +1)
+ cn−1e (n)
+ ∑ ci e (i +1)
(8)
i =1 i =1
(4) The S ( x, t ) can be written to be
S ( x, t )  (cn 1   n )[f ( x, t )  d ( x, t )
( Fmax  Dmax   ) sgn( S )]
So, we can obtain
V = SS = (cn−1 + χ n )[(∆f ( x, t ) + d ( x, t )) S
− ( Fmax + Dmax + ς ) sgn( S ) S ]
≤ −(cn−1 + χ n )ς S
where ς > 0 ， (cn−1 + χ n ) < 0 ，if S ≠ 0 ，  S ( x, t )
Mˆ ( x, t ) =
V < 0 . ε
Remark：Assume system (1) is 2 order system，from 
then V ( x, t ) < 0
(2), the sliding surface S includes e which associates
u ，so the sliding surface S u 5 Simulation
input includes the input The motion equation of PMSM can be written as[13]
.
Jθr (t ) + Bθr (t ) + TL = Te (14)
4 Adaptive dynamic terminal SMC design where the parameters see the reference [13]. (14) can be
In order to obtain Fmax and Dmax ， adaptive rewritten as
dynamic terminal sliding mode controller is proposed . B K 1
~
Define 2 : M repents the error between estimated value
θr (t ) = − θr (t ) + t iqs − TL
J J J (15)
M̂ and real value M * , that is = Apθr (t ) + B p u (t ) + D pTL
Mˆ ( x, t ) = (cn−1 + χ n )( Fˆ ( x, t ) max +
(9) where A p = − B J ， B p = K t J ，
Dˆ ( x, t ) max + ς ) Dp = − 1 J
M * = (cn−1 + χ n )( Fmax + Dmax + ς ) (10) considering parameter uncertainty and disturbance,
~ we have
M ( x, t ) = M * − Mˆ ( x, t ) (11)
θr (t ) = ( Ap + ∆Ap )θr (t ) + ( B p + ∆B p )u (t )
Then Mˆ ( x, t ) can be written
+ D pTL + Tα
 s ( x, t )
Mˆ ( x, t ) = (12) (16) where Ap and B p represent uncertainties of
ε
Ap and B p ， Tα is the disturbance. We can assume
Theorem 2 : Consider the system in (1)，under define1
and define 2, select sliding surface (2) and the control M (t ) = ∆A pθr + ∆B p u (t ) + D pTL + Tα
law is design as (13)
1 the simulation parameters are selected as：
u = − [ J1 + J 2 + Mˆ sgn( S )] (13) Ap = −14.62 ， B p = 5.34 ，
c n b ( x, t )
then the system (1) is stable. x1d = 0.8 sin( 2t ) , x0 = [0.6 0]
Proof：Select a Lyapunov function ∆f ( x, t ) + d ( x, t ) = 3.9 + 0.5 sin(t 2) ，
1 ~ The terminal sliding surface is designed as:
V ( x, t ) = ( S T ( x, t ) ⋅ S ( x, t ) + εM 2 ( x, t )) S (t ) = e − p (t ) + 3e − 3 p (t ) ， ς = 0.1 ，
2
where ε is positive constant, then Dmax = 4, Fmax = 1.5 ， T = 1 ，
~ 
V ( x, t ) = S ( x, t ) ⋅ S ( x, t ) − εM ( x, t ) ⋅ Mˆ ( x, t ) The control law is given as :
Considering (7), we can obtain u = −(5.34) −1[−14.62 x2 − x1d − p (t )
V ( x, t ) = s ( x, t ) ⋅ [cn b( x, t )u + J1 + J 2 + (cn−1 + 3(e − p ) + (5.5 + 0.1) sgn( S )]
~ 
+ χ n )(∆f ( x, t ) + d ( x, t ))] − εM ( x, t ) ⋅ Mˆ ( x, t ) The adaptive terminal sliding surface is designed as:
S (t ) = e + 20e + 75e − 5 p (t ) − 10 p(t )
Using (13), we have
V ( x, t ) = (cn−1 + χ n )[(∆f ( x, t ) + d ( x, t )) S The control law is given as (13) ， M ˆ ( x, t ) is

1 ~  Mˆ ( x, t ) = s ( x, t )
− Mˆ sgn( S ) S ] − εM ( x, t ) ⋅ Mˆ ( x, t )
cn−1 + χ n
~ 
≤ −(cn−1 + χ n )ς S + M ( x, t )( S − εMˆ ( x, t ))
using (12), that is
 Fig.1(a) Position curves
Fig.1(b) Control input
Fig.1 Simulation results of Terminal
sliding mode control
Fig.2(a) Position curves
Fig.2(b) Error curve of Position
Fig.2(c) sliding surface
Fig.1(d) Control input
Fig.2 Simulation results of adaptive
dynamic
Terminal sliding mode control
The Fig.1 and Fig.2 are the simulation results. In
Fig.1(a) and Fig.2(a), curve 1 is the given
position, and curve 2 represents the position
track. From the simulation result, the error of
position converge to zero at the time of T
using terminal sliding mode controller, but the chatting
of control input can’t be attenuated. The adaptive
terminal SMC can attenuate the chatting of control input,
and the error of position is small enough.
6 Conclusions
To solve parameter uncertainty and external
disturbance of nonlinear systems, an adaptive dynamic
Terminal sliding mode control method is presented The
method estimates the boundary of parameter uncertainty
and external disturbance by adaptive law. A novel sliding
differential dynamic surface is designed to attenuate the
chatting. Simulation results in PMSM are included to
illustrate the effectiveness of the proposed adaptive
dynamic terminal SMC.
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