Adaptive second-order sliding mode control with uncertainty compensation. Issue 9 (1st September 2016)

• Record Type: Journal Article
• Authors: Bartolini, G.; Levant, A.; Pisano, A.; Usai, E.
• Is Part Of: International journal of control. Volume 89:Issue 9(2016)
• Page Start: 1747
• Page End: 1758
• Publication Date: 2016-09-01
• Subjects: Second-order sliding modes -- uncertain systems -- nonlinear systems -- adaptation; Automatic control -- Periodicals; Electronic journals; 629.8
• DOI: 10.1080/00207179.2016.1142616
• Languages: English
• ISSNs: 0020-7179

Abstract

ABSTRACT: This paper endows the second-order sliding mode control (2-SMC) approach with additional capabilities of learning and control adaptation. We present a 2-SMC scheme that estimates and compensates for the uncertainties affecting the system dynamics. It also adjusts the discontinuous control effort online, so that it can be reduced to arbitrarily small values. The proposed scheme is particularly useful when the available information regarding the uncertainties is conservative, and the classical `fixed-gain' SMC would inevitably lead to largely oversized discontinuous control effort. Benefits from the viewpoint of chattering reduction are obtained, as confirmed by computer simulations.