Study on the Nonsingular Problem of Fractional-Order Terminal Sliding Mode Control

Abstract

An improved type of control strategy combining the fractional calculus with nonsingular terminal sliding mode control named non-singular fractional terminal sliding mode control (NFOTSM) is proposed for the nonlinear tire-road friction control system of vehicle in this paper. A fractional-order switching manifold is proposed, and the corresponding control law is formulated based on the Lyapunov stability theory to guarantee the sliding condition. The proposed controller ensures the finite time stability of the closed-loop system. Then, a terminal attractor is introduced to solve the singularity problem of fractional terminal sliding mode control (FOTSM). Finally, the performance of the NFOTSM is fully investigated compared with other related algorithms to find the effectiveness for the tire-road friction system. The results show that the NFOTSM has better performance than other related algorithms.