Continuous adaptive terminal sliding-mode control

This paper proposes a continuous adaptive terminal sliding-mode control for nonlinear systems. The new terminal sliding-mode manifold can enable the elimination of the singularity problem associated with conventional terminal sliding-mode control. Two different schemes for continuous terminal sliding-mode controller design are utilized for the control of nonlinear systems. The global continuous terminal sliding-mode controllers proposed in the paper are used for the control design of the second-, third, and higher-order nonlinear systems. The gain of the terminal sliding-mode control can be regulated adaptively based on the uncertainties of the system.