Fractional terminal sliding mode control design for a class of dynamical systems with uncertainty

A novel type of control strategy combining the fractional calculus with terminal sliding mode control called fractional terminal sliding mode control is introduced for a class of dynamical systems subject to uncertainties. 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 fractional-order terminal sliding mode controller ensures the finite time stability of the closed-loop system. Finally, numerical simulation results are presented and compared to illustrate the effectiveness of the proposed method.

► A novel type of control strategy called fractional terminal sliding mode control is introduced. ► The effects of model uncertainties are taken into account in the design procedure. ► Fractional Lyapunov stability theorem is used to guarantee the sliding condition. ► The closed-loop system response in presence of IO-TSMC and FO-TSMC are compared. ► The proposed FO-TSMC possesses not only more accurate control performance but also faster convergence speed than the IO-TSMC.