High-order terminal sliding-mode control of uncertain systems with mismatched disturbance

This paper proposes a hierarchical high-order terminal sliding-mode control method for a class of uncertain multivariable systems with mismatched disturbances. Based on the block controllable forms of multivariable systems, a non-singular terminal sliding-mode manifold is utilized and a second-order sliding-mode control law is designed. The input-output subsystem can converge to the equilibrium points within finite time, and the internal dynamic subsystem can converge to the neighborhood of the equilibrium points. The proposed high-order sliding-mode control is smooth, the chattering can be effectively eliminated, and the system is robust to both matched and mismatched uncertainties. The simulation results validate the method.