Properties of a combined adaptive/second-order sliding mode control algorithm for some classes of uncertain nonlinear systems

Author

Bartolini, Giorgio ; Ferrara, Antonella ; Giacomini, Luisa ; Usai, Elio

Author_Institution

Dept. of Electr. & Electron. Eng., Cagliari Univ., Italy

Volume

45

Issue

7

fYear

2000

fDate

7/1/2000 12:00:00 AM

Firstpage

1334

Lastpage

1341

Abstract

In this paper, a combined adaptive/variable structure control approach is presented that exploits the good properties of the backstepping procedure and of a second-order sliding-mode control algorithm. This algorithm enables one to attain the conditions S=0, S˙=0 (second-order sliding mode) in a finite time, S=0 being a predefined sliding manifold. The combined approach retains the stability and convergence features of the original adaptive strategy. In addition, it allows one to deal with systems with uncertainties of more general types, ensuring robustness, as well as a reduction in the computational load

Keywords

adaptive control; convergence; nonlinear systems; stability; uncertain systems; variable structure systems; adaptive control; backstepping; convergence; nonlinear systems; sliding-mode control; stability; uncertain systems; variable structure control; Adaptive control; Backstepping; Control systems; Convergence; Nonlinear control systems; Nonlinear systems; Programmable control; Sliding mode control; Stability; Uncertainty;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/9.867041

Filename

867041