Second-order terminal sliding mode control of input-delay systems

This paper proposes a second-order terminal sliding mode control for a class of uncertain input-delay systems. The input-delay systems are firstly converted into the input-delay free systems and further converted into the regular forms. A linear sliding mode manifold is predesigned to represent the ideal dynamics of the system. Another terminal sliding mode manifold surface is presented to drive the linear sliding mode to reach zeros in finite time. In order to eliminate the chattering phenomena, a second-order sliding mode method is utilized to filter the high frequency switching control signal. The uncertainties of the systems are analysed in detail to show the effect to the systems. The simulation results validate the method presented in the paper