关键词: 滑模控制, 趋近律, 滑模面, 有限时间

Abstract: A nonlinear integral sliding mode control method based on a new reaching law is proposed for a class of nonlinear systems with uncertainty. First, a kind of nonlinear integral sliding mode surface was designed and good performance during the sliding mode stage was ensured. Second, a new fast reaching law was constructed and the finite-time reachability property of the reaching law was verified. And then, a sliding mode controller was designed based on the proposed nonlinear integral sliding mode surface and the reaching law. The stability bound of the closed-loop sliding mode control system with bounded disturbances was derived. Finally, the effectiveness and superiority of the proposed method was verified by a series of simulation experiments.

Key words: Sliding mode control, reaching law, sliding mode surface, finite-time