Sliding mode control with self-tuning law for synchonization of two uncertain chaotic gyros

In this paper, a sliding mode control (SMC) with selftuning law method for uncertain nonlinear systems is proposed. The adjustable control gain parameter and the adjustable boundary layer width are tuned to force the tracking error to approach zero. The problem of synchronization between two chaotic gyros in the presence of uncertainties, external disturbances is considered. The numerical simulation results show that the control input in this algorithm is smooth and has no chattering and by applying this method, sliding variables will converge to zero with higher precision in comparison with boundary layer SMC algorithm.