Tracking precision analysis of terminal sliding mode control systems with saturation functions

This paper addresses the tracking precision problem of terminal sliding mode control of uncertain dynamic systems. The mathematical relationship between the tracking precision of the system state and the width of the saturation function used for elimination of chattering is explored. It is found that the tracking precision performance of the terminal sliding mode control systems is superior in comparison with that of the conventional linear sliding mode control systems. Through the specification of the tracking precision, appropriate saturation functions can be designed. Simulation results are presented to validate the analysis