A novel framework to finite-time tracking of nonlinear MIMO systems based on fast terminal sliding-mode method

Abstract

In this paper, a novel approach is proposed to design a robust finite-time tracking controller for uncertain affine multi-input multi-output (MIMO) systems. In the proposed approach, a fast terminal sliding mode (FTSM) controller is designed, based on the input–output relation of the MIMO nonlinear systems. The main advantage of the proposed method is its capability to handle the internal dynamics of the system. Moreover, in the proposed controller, the state variables of the internal dynamics of the system are not necessary to be measured. To realize the finite-time convergence of the output variables, a set of switching manifolds with a recursive procedure is utilized. Finally, the robust stability and tracking efficiency of the proposed control law are shown through computer simulations.