A novel higher order sliding mode control scheme

A higher order sliding mode control algorithm is proposed for a class of uncertain multi-input multi-output nonlinear systems. This problem can be viewed as the finite time stabilization of a higher order input-output dynamic system with bounded uncertainties. The developed control scheme is based on geometric homogeneity and sliding mode control. The proposed procedure provides explicit conditions on the controller parameters and guarantees robustness against uncertainties. An illustrative example of a hovercraft vessel control demonstrates the advantages of the strategy.