New design method of sliding mode controller for a class of nonlinear second-order systems

In this paper a new design method is proposed for sliding mode control of a class of nonlinear second-order systems with input saturation. The main idea is to combine the conventional terminal sliding mode manifold with a saturation function for construction of a new nonsingular terminal sliding mode manifold. By virtue of the bound of the uncertainty, the constructed terminal sliding mode manifold is employed to design a saturated controller directly for the nonlinear system. It is shown that the designed saturated controller guarantees the finite-time convergence of the states of the resulting closed-loop system to zero