Sliding Mode Control Governed by Adaptive Tuning Law for Uncertain Nonlinear Systems

A systematic adaptive sliding mode controller design for solving the robust tracking problem is developed for nonlinear systems. An adaptation approach with only one adaptive gain parameter is proposed to replace the high frequency switching control term in conventional sliding mode control. This adaptive gain parameter is tuned to deal with unknown but bounded system uncertainties. The stability of the control system is proven by using the Lyapunov theory. System robustness is achieved. Tracking performance is guaranteed. The proposed control method retains the advantages of conventional sliding mode control and possesses no control input chattering. The simulation results reveal the validity and effectiveness of the developed control method