Designing an Adaptive Continuous Terminal Sliding Mode Controller for a Class of Nonlinear Systems in Presence of Perturbation

In this paper, an adaptive continuous terminal sliding mode controller is proposed for a class of second-order time varying perturbed systems with unknown parameters. In the proposed method, the controller is a combination of  continuous terminal sliding mode control and adaptive control. The convergence of the proposed method is based on a continuously-differentiable, homogeneous and strict Lyapunov function, and the unknown parameter of the system is estimated by an adaptive law. Zero-error convergence  of the proposed method is attained with information about the output and its derivative; furthermore, in this method, perturbation is compensated and a continuous control signal is generated which reduces the chattering. The simulation results show proper performance of the proposed method.