A Fast Terminal Sliding Mode Control with Novel Fuzzy Disturbance Observer

In this paper, a fast terminal sliding mode control with fuzzy disturbance observer scheme is proposed. In the scheme, a novel adaptive law for fuzzy disturbance observer is presented, which has faster convergence than the conventional one. Combining the fast terminal mode and the novel fuzzy disturbance observer, the proposed new scheme is not only suitable for uncertainty nonlinear system, but also can achieve faster convergence. The relationship and difference between the suggested fuzzy disturbance observer and the conventional one are discussed. Finally, simulation studies for rotational inverted pendulum are provided to confirm the performance and the effectiveness of the proposed control approach.