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In the early 1990s, a new type of sliding mode control, named terminal sliding modes (TSM) was invented at the Jet Propulsion Laboratory (JPL) by Venkataraman and Gulati. TSM is robust non-linear control approach. There are some variations of the TSM including: Non-singular TSM, Fast TSM, Terminal sliding mode also has been widely applied to nonlinear process control, for example, rigid robot control etc.. Several open questions still remain on the mathematical treatment of the system's behavior at the origin since it is non-Lipschitz.

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  • Terminal sliding mode (en)
  • 終端滑動模式控制 (zh)
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  • 終端滑動模式控制（terminal sliding modes）簡稱TSM，是在1990年代早期發明的新型滑動模式控制，是由NASA喷气推进实验室的Venkataraman和Gulatis所發明，屬於強健的非線性控制。 終端滑動模式控制的主要概念是源於Zak在喷气推进实验室時有關終端吸引子的研究，此概念也源於可以保證有限時間收斂的終端吸引子。在一般的滑動模式控制，保證李雅普诺夫稳定性，可以讓狀態收斂到原點，不過無法保證在有限時間內可以收斂。在終端滑動模式控制中，在滑動平面限制中有導入非線性項，因此此流形會以吸引子的方式表示。到，到達滑動曲面後，狀態軌跡會被流形吸引，依幂次律收斂到原點。 終端滑動模式控制也有一些變種：例如非奇異終端滑動模式控制及快速終端滑動模式控制。 終端滑動模式控制也廣為使用在非線性過程控制的應用，例如剛性機器人控制等。因為終端滑動模式控制沒有Lipschitz特性，在原點附近的數學處理上仍有些無法解決的問題。 (zh)
  • In the early 1990s, a new type of sliding mode control, named terminal sliding modes (TSM) was invented at the Jet Propulsion Laboratory (JPL) by Venkataraman and Gulati. TSM is robust non-linear control approach. There are some variations of the TSM including: Non-singular TSM, Fast TSM, Terminal sliding mode also has been widely applied to nonlinear process control, for example, rigid robot control etc.. Several open questions still remain on the mathematical treatment of the system's behavior at the origin since it is non-Lipschitz. (en)
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  • In the early 1990s, a new type of sliding mode control, named terminal sliding modes (TSM) was invented at the Jet Propulsion Laboratory (JPL) by Venkataraman and Gulati. TSM is robust non-linear control approach. The main idea of terminal sliding mode control evolved out of seminal work on terminal attractors done by Zak in the JPL, and is evoked by the concept of terminal attractors which guarantee finite time convergence of the states. While, in normal sliding mode, asymptotic stability is promised which leads to the convergence of the states to the origin.But this convergence may only be guaranteed within infinite time. In TSM, a nonlinear term is introduced in the sliding surface design so that the manifold is formulated as an attractor. After the sliding surface is intercepted, the trajectory is attracted within the manifold and converges to the origin following a power rule. There are some variations of the TSM including: Non-singular TSM, Fast TSM, Terminal sliding mode also has been widely applied to nonlinear process control, for example, rigid robot control etc.. Several open questions still remain on the mathematical treatment of the system's behavior at the origin since it is non-Lipschitz. (en)
  • 終端滑動模式控制（terminal sliding modes）簡稱TSM，是在1990年代早期發明的新型滑動模式控制，是由NASA喷气推进实验室的Venkataraman和Gulatis所發明，屬於強健的非線性控制。 終端滑動模式控制的主要概念是源於Zak在喷气推进实验室時有關終端吸引子的研究，此概念也源於可以保證有限時間收斂的終端吸引子。在一般的滑動模式控制，保證李雅普诺夫稳定性，可以讓狀態收斂到原點，不過無法保證在有限時間內可以收斂。在終端滑動模式控制中，在滑動平面限制中有導入非線性項，因此此流形會以吸引子的方式表示。到，到達滑動曲面後，狀態軌跡會被流形吸引，依幂次律收斂到原點。 終端滑動模式控制也有一些變種：例如非奇異終端滑動模式控制及快速終端滑動模式控制。 終端滑動模式控制也廣為使用在非線性過程控制的應用，例如剛性機器人控制等。因為終端滑動模式控制沒有Lipschitz特性，在原點附近的數學處理上仍有些無法解決的問題。 (zh)
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