Super Twisting Observer-based Arbitrary Convergence Time Sliding Mode Control for Uncertain System

The problem of integral sliding mode control with arbitrary convergence time for nonlinear uncertain systems with matched disturbances is studied. In this paper, the prescribed performance arbitrary convergence time integral sliding mode controller based on the super twisting disturbance observer is designed to overcome the overshoot problem of the system state response curve at the prescribed time. Compared with the existing similar results, this paper introduces the super twisting disturbance observer into the integral sliding mode controller, which can effectively compensate the matching disturbance while avoiding the high-frequency chattering problem and ensure the free-will arbitrary time stable (FATS) of the closed-loop system. In addition, this paper uses the prescribed performance control (PPC) technology to obtain better transient performance. Finally, the effectiveness of the proposed control method is verified through MATLAB simulations.