Predefined time nonsingular sliding mode control for high‐order nonlinear systems and its applications

Abstract For a class of higher order nonlinear systems with disturbances, this paper proposes a novel pre‐defined time nonsingular sliding mode control (SMC), which ensures that the tracking error can converge to the origin in both the arrival stage and the sliding stage at a predefined time. The convergence time is independent of the controller parameters and is set by the users. In addition, this paper introduces a saturation function in the controller to solve the singular problem of traditional terminal SMC. Finally, simulations and experiments verify that the proposed method has good control performance such as fast convergence speed and strong robustness.