Nonsingular terminal sliding mode control for a class of time delay systems

A global nonsingular terminal sliding mode controller is proposed for a class of second order time delay systems with distributed in state and control variables. By properly designing a state transformation and a predictor, the given system can be transformed into a time delay free one, based on which we construct a new terminal sliding mode surface. Under the proposed terminal sliding mode controller, the system states can be driven to reach the new terminal sliding mode manifold and stay on it forever, resulting in the convergence to equilibrium in a finite time. The global stability of the closed loop system is guaranteed and the singularity problem associated with conventional terminal sliding mode is avoided.