Higher Order Sliding Mode Control with Fast Transient Performance

A novel robust higher order mode control scheme is proposed for a class of uncertain multi-input multi-output nonlinear systems. This problem can be transformed into the finite time stabilization of a higher order input-output dynamic system with bounded uncertainties. Both finite-time and asymptotical stabilizing controllers are imposed on a chain of integrators to achieve finite time convergence with fast transient performance. Besides, integral sliding mode is employed to guarantee that the robustness is achieved. Furthermore, the convergence rate of the higher-order sliding mode can be hastened through tuning the control parameters. The effectiveness of these methods is demonstrated by an academic example.