Design an Adaptive Sliding Mode Controller for a Class of Underactuated Systems

The majority of underactuated systems are nonholonomic, due to non-integrable differential constraints. Therefore, controlling an underactuated system is considered as a challenging problem. In this study, an adaptive controller based on super-twisting sliding mode controller is proposed for a class of robust underactuated systems subjected to uncertainties and external disturbances. The adaptive compensator was designed so that there would be no need to the upper bound of the external disturbance. The controller parameters of adaptive sliding mode control are tuned based on a multi-objective non-dominated sorting of genetic optimization algorithm. The results of simulation and the demonstration of the effectiveness and applicability of the proposed scheme are presented.