Higher-order sliding-mode controller for a class of uncertain nonlinear systems

A novel design method of higher-order sliding-mode controller is proposed for a class of uncertain nonlinear SISO systems, which is based on the finite-time stability theory and integral sliding-mode control theory and avoids some shortcomings of existing higher-order sliding-mode controllers. The integral sliding-mode guarantees the disturbancerejection ability for the system at the initial time. Meanwhile, the output-feedback control is realized by employing a finite-time stable observer. Simulation results show that this controller drives the system to converge in finite time and alleviates the chattering phenomena effectively.