Terminal sliding mode control in reaching and sliding dynamics with input limit

This paper presents a terminal sliding mode control in reaching dynamics as well as in sliding dynamics. Generally the control effort increases to make a system fast. But there exists a maximum input value of control input due to an actuator capacity. Proposed terminal sliding mode control makes a system fast and stable from reaching phase to sliding phase with input limit. Through the comparison study among a original sliding mode control, a conventional terminal sliding mode control and a modified terminal sliding mode control we can see a fast conversing property of a modified one. Simulation results are presented to validate the analysis.