Terminal Sliding Mode Control for Cyber Physical System Based on Filtering Backstepping

Based on a nonlinear flight dynamic model with aerodynamic coefficients and external disturbance uncertainties, which is a typical cyber physical system, a filtering backstepping terminal sliding mode control method is proposed for a robust controller. The tracking differentiator can provide the capability of solving the problem of "complexity explosion" in backstepping controllers to simplify the backstepping implementation. Nonlinear disturbance observers are used to observe the uncertainties of the nonlinear flight dynamic system. The terminal sliding mode controller is designed to improve its convergence rate and the tracking accuracy. Finally, nonlinear 6-degree-of-freedom simulation results for an F-16 aircraft model elaborate the effectiveness of the proposed control system.