Sliding Mode Control of Low Chattering Non-singular Terminal

In order to overcome the chattering in normal sliding mode control(SMC),and take advantage of the good characteristics of quick convergence in the terminal SMC,non-signular terminal sliding and terminal reaching law are applied to the design of sliding mode control,which is aimed at second-order affine nonlinear systems.Low chattering and non-singular terminal SMC is reached and proved to be good robustness.