Liu, XiaofeiQi, ShengboMalekian, RezaLi, Zhixiong2019-01-152019-01Liu, X., Qi, S., Malekain, R. et al. Observer-based Composite Adaptive Dynamic Terminal Sliding-mode Controller for Nonlinear Uncertain SISO Systems. International Journal of Control, Automation and Systems (2019) 17: 94-106. https://doi.org/10.1007/s12555-018-0117-7.1598-6446 (print)2005-4092 (online)10.1007/s12555-018-0117-7http://hdl.handle.net/2263/68148In the present paper, the observer-based composite adaptive terminal sliding-mode control is investigated for the nonlinear uncertain system. First, an adaptive observer is designed to estimate the unavailable high-order derivative of the output. Then, a new dynamic terminal sliding surface is proposed with a state filter, which aims to develop the dynamic terminal sliding mode controller. By the composite adaptive control methods, a new adaptive law is designed, and the stability of the overall system is proofed based on the Lyapunov method. Finally, some numerical simulations are conducted to validate the effectiveness of the proposed algorithm.en© Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature 2019. The original publication is available at : https://link.springer.com/journal/12555.Adaptive controlAdaptive observerDynamic terminal sliding mode controlStabilityAdaptive control systemsNonlinear uncertain systemsHigh order derivativesSliding mode controlLyapunov methodsConvergence of numerical methodsControllersPostprint Article