Passivity-based adaptive integral sliding mode control of uncertain nonlinear systems

This paper deals with the stabilization problem of uncertain nonlinear systems by passivity-based adaptive integral sliding mode control. The systems may possess both parametric uncertainties and unknown nonlinear functions that may represent modeling errors and external disturbances. The proposed method first combines immersion and invariance adaptive control with integral sliding mode control, which preserves the advantages of the two methods, namely asymptotic stability of adaptive control in the presence of parametric uncertainties, and stronger robustness with integral sliding mode control for both parametric uncertainties and unknown bounded nonlinear functions.