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<p>This paper presents an adaptive nonsingular practical fast fixed-time sliding mode control approach for high precision reference trajectory tracking of nonlinear switched systems in the presence of external disturbances, dead zone, and saturation constraints on the inputs. Unlike traditional methods, the offered approach guarantees practical fixed-time convergence, ensuring that the system trajectories reach a neighborhood of equilibrium within a predefined upper bound, independent of initial conditions. A time varying sliding surface, dynamically adjusts control gains to balance rapid convergence and minimized chattering. To handle unknown disturbances without prior knowledge, an&#xa0;adaptive estimation mechanism&#xa0;is introduced. The control scheme is further enhanced with a smooth hyperbolic function to reduce chattering and ensuring smoother control inputs. The system is proven to hold practical fixed-time stability. This conclusion is rigorously derived via a Lyapunov-based analysis. Comparative simulations in MATLAB environment demonstrate superior tracking accuracy, fast convergence, and robustness against model uncertainties, input constrains, and external disturbances.</p>

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Fast fixed-time adaptive nonsingular sliding mode control for nonlinear switched systems with dead-zone and input saturation constraints

  • 期刊论文

  • 发表日期：

    2026年3月3日

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  • Zahra Mokhtare,
  • Abolfazl Jalilvand,
  • Saleh Mobayen

摘要

This paper presents an adaptive nonsingular practical fast fixed-time sliding mode control approach for high precision reference trajectory tracking of nonlinear switched systems in the presence of external disturbances, dead zone, and saturation constraints on the inputs. Unlike traditional methods, the offered approach guarantees practical fixed-time convergence, ensuring that the system trajectories reach a neighborhood of equilibrium within a predefined upper bound, independent of initial conditions. A time varying sliding surface, dynamically adjusts control gains to balance rapid convergence and minimized chattering. To handle unknown disturbances without prior knowledge, an adaptive estimation mechanism is introduced. The control scheme is further enhanced with a smooth hyperbolic function to reduce chattering and ensuring smoother control inputs. The system is proven to hold practical fixed-time stability. This conclusion is rigorously derived via a Lyapunov-based analysis. Comparative simulations in MATLAB environment demonstrate superior tracking accuracy, fast convergence, and robustness against model uncertainties, input constrains, and external disturbances.