Complementary sliding mode control of a class of nonlinear cascade systems

In this paper, a novel continuous complementary sliding control was proposed to improve the tracking performance given the available control bandwidth and the extent of parameter uncertainty. With this control law, the guaranteed tracking precision has been shown to reduce at least by half, as compared with the conventional continuous sliding control. The error transient response during the reaching phase has also been remarkably improved by the proposed control. To illustrate its superiority, we presented a composite complementary sliding control scheme for a cascade uncertain nonlinear system, which includes the benchmark nonlinear problem, TORA. Simulation results on TORA showed excellent responses to any initial conditions and to single-frequency sinusoidal disturbances