An Adaptive Full Order Sliding Mode Controller for Mismatched Uncertain Systems

• Published in: International journal of automation and computing Vol. 14; no. 2; pp. 191 - 201
• Main Authors: Mondal, Sanjoy, Ghommam, Jawhar, Saad, Maarouf
• Format: Journal Article
• Language: English
• Published: Beijing Institute of Automation, Chinese Academy of Sciences 01.04.2017; Springer Nature B.V
• Subjects: Adaptive control; Adaptive systems; Algorithms; Automation; CAE) and Design; Computer Applications; Computer simulation; Computer-Aided Engineering (CAD; Control; Control stability; Control systems design; Control theory; Controllers; Design engineering; Design techniques; Dynamic models; Engineering; Lyapunov; Mechatronics; Nonlinear systems; Research Article; Robotics; Sliding mode control; Surface stability; System effectiveness; Tracking; Uncertainty; Upper bounds; 不匹配; 不确定系统; 严格反馈非线性系统; 有界不确定性; 滑模控制器; 自适应; 非匹配不确定性; adaptive sliding mode; finite time convergence; reference tracking; Full order sliding mode; mismatched uncertainty
• ISSN: 1476-8186; 2153-182X; 1751-8520; 2153-1838
• DOI: 10.1007/s11633-017-1057-z

In this paper, an adaptive full order sliding mode （FOSM） controller is proposed for strict feedback nonlinear systems with mismatched uncertainties. The design objective of the controller is to track a specified trajectory in presence of significant mismatched uncertainties. In the first step the dynamic model for the first state is considered by the desired tracking signal. After the first step the desired dynamic model for each state is defined by the previous one. An adaptive tuning law is developed for the FOSM controller to deal with the bounded system uncertainty. The major advantages offered by this adaptive FOSM controller are that advanced knowledge about the upper bound of the system uncertainties is not a necessary requirement and the proposed method is an effective solution for the chattering elimination from the control signal. The controller is designed considering the full-order sliding surface. System robustness and the stability of the controller are proved by using the Lyapunov technique. A systematic adaptive step by step design method using the full order sliding surface for mismatched nonlinear systems is presented, Simulation results validate the effectiveness of the proposed control law.