关键词：终端滑模；控制方式；非负指数系数
摘 要：The terminal sliding mode (TSM) control method has become a hot topic in recent years due to its special merit on finite-time convergence and good robustness. One critical issue is how to balance the singularity of control law and the fast convergence of closed-loop system. The chapter reviews the research history of the singularity and introduces the recent advance on nonsingular and fast terminal sliding mode (NFTSM) control method. The synthesis of NFTSM controller synthesis is based on a newly proposed nonsingular fast terminal function and a terminal attrac-tor with nonnegative exponential coefficient. Both theoretical analyses and computer simulations have proved its effectiveness under the condition that plant uncertainties are bounded.