Adaptive Second-Order Sliding Mode Control: A Lyapunov Approach

This article proposes an adaptive second-order sliding mode (ASOSM) controller design by means of the Lyapunov method. The notable feature of the proposed algorithm is that it only needs boundedness of the uncertainties, whereas boundedness of the derivatives of uncertainties is not demanded. Under...

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Bibliographic Details
Published inIEEE transactions on automatic control Vol. 67; no. 10; pp. 5392 - 5399
Main Authors Ding, Shihong, Mei, Keqi, Yu, Xinghuo
Format Journal Article
LanguageEnglish
Published New York IEEE 01.10.2022
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Adaptive control
adding a power integrator
Algorithms
Control systems design
Convergence
Dynamic stability
finite-time stability
Lyapunov methods
Nonlinear systems
second-order sliding mode (SOSM)
Sliding mode control
Stability criteria
Trajectory
Uncertainty
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Summary:This article proposes an adaptive second-order sliding mode (ASOSM) controller design by means of the Lyapunov method. The notable feature of the proposed algorithm is that it only needs boundedness of the uncertainties, whereas boundedness of the derivatives of uncertainties is not demanded. Under the proposed ASOSM control scheme, the gain can be dynamically tuned, which avoids gain overestimation. The finite-time stability of the closed-loop ASOSM dynamics is proved via the Lyapunov theory. Finally, the simulation results are shown to validate the theoretical analysis.
Bibliography:ObjectType-Article-1
SourceType-Scholarly Journals-1
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content type line 14
ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.2021.3115447