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<p>This paper introduces a new sliding mode control (SMC) scheme for second-order nonlinear systems affected by lumped uncertainties and disturbances. A new finite-time reaching sliding surface is proposed to guarantee a desirable stability of property. To further enhance the system’s resilience, a finite-time disturbance observer (FTDO) is integrated into the control architecture to accurately reconstruct and lessen the effects of unknown dynamics and external perturbations. Utilizing the FTDO, a robust control law is formulated to facilitate precise finite-time output tracking. Rigorous stability via the Lyapunov theory confirms the finite-time convergence of both tracking and estimation errors. Finally, the practical feasibility and enhanced performance of the developed control scheme are validated through comprehensive simulation results.</p>

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Disturbance Observer Based Terminal Sliding Mode Control for Second-Order Systems

  • 期刊论文

  • 发表日期：

    2026年7月16日

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  • Mehdi Neyestani,
  • Ali Akbarzadeh Kalat

摘要

This paper introduces a new sliding mode control (SMC) scheme for second-order nonlinear systems affected by lumped uncertainties and disturbances. A new finite-time reaching sliding surface is proposed to guarantee a desirable stability of property. To further enhance the system’s resilience, a finite-time disturbance observer (FTDO) is integrated into the control architecture to accurately reconstruct and lessen the effects of unknown dynamics and external perturbations. Utilizing the FTDO, a robust control law is formulated to facilitate precise finite-time output tracking. Rigorous stability via the Lyapunov theory confirms the finite-time convergence of both tracking and estimation errors. Finally, the practical feasibility and enhanced performance of the developed control scheme are validated through comprehensive simulation results.