A global time-varying sliding-mode control for the tracking problem of uncertain dynamical systems.

In this paper, a global time-varying sliding-mode control scheme with prespecified convergence time is proposed for the tracking problem of a class of uncertain nonlinear systems under parameters uncertainties and external disturbances. Firstly, a novel time-varying sliding manifold with appropriate coefficients is presented. These coefficients are tuned to eliminate the reaching phase and to drive the system states to the equilibrium in a specified time.