The terminal sliding mode control scheme based on disturbance observer is proposed for nonlinear uncertain system. Firstly, the terminal sliding mode control is designed without consideration on external disturbance, to ensure the system convergences to zero in limited time period; then the nonlinear disturbance observer system is established when disturbance existing to approach unknown external disturbance to eliminate the influence. Due to the uncertainty of input channel, by adopting adaptive method to approach the upper boundary of uncertainty , and the stability of the adaptive closed-loop system is verified strictly with the Lyapunov method. Finally, the simulation for inverted pendulum system is conducted; the result indicates that the proposed control scheme is effective.%针对一类非线性不确定系统,提出一种带干扰观测器的终端滑模控制TSMC方案.在不考虑外部干扰的影响下,设计了终端滑模控制,保证系统状态在有限时间内收敛到零;当存在干扰时,构造了非线性干扰观测器系统,以在线逼近未知外部干扰,消除其影响.考虑输人通道的不确定性,采用自适应方法在线逼近不确定的上界,并采用Lyapunov方法严格证明了自适应闭环系统的稳定性.对一级倒立摆系统进行仿真,仿真结果表明了所设计控制方案的有效性.
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