Second‐order sliding mode output feedback controller with adaptation. (1st February 2016)

• Record Type: Journal Article
• Authors: Negrete‐Chávez, Daniel Y.; Moreno, Jaime A.
• Other Names: Oliveira Tiago Roux guestEditor.; Fridman Leonid guestEditor.; Ortega Romeo guestEditor.
• Is Part Of: International journal of adaptive control and signal processing. Volume 30:Number 8/10(2016:Aug/Oct.)
• Page Start: 1523
• Page End: 1543
• Publication Date: 2016-02-01
• Subjects: second‐order sliding modes -- adaptive control -- discontinuous control -- Lyapunov analysis; Adaptive control systems -- Periodicals; Adaptive signal processing -- Periodicals; 629.836
• DOI: 10.1002/acs.2662
• Languages: English
• ISSNs: 0890-6327

Abstract

Summary: An adaptive second‐order sliding mode output feedback controller is developed to deal with the case that the bound of the uncertainty/perturbation is unknown. The control structure consists in a twisting controller and a super‐twisting observer to estimate the unmeasured variable. The gains of the controller and observer are parametrized in terms of a scalar gain, such that increasing these two gains, it is always possible to find values to (finite‐time) stabilize the closed loop system. Finally, adaptive gain laws are provided to increase the controller and the observer gains until the closed loop has been stabilized. The main technical contribution of the paper is to give a sound and non‐trivial Lyapunov analysis of this otherwise intuitively simple idea. We illustrate the performance of the proposed controller by means of experimental results in a laboratory setup. Copyright © 2016 John Wiley & Sons, Ltd.