An Adaptive Sliding Mode Control Using Simple Adaptive Control for A Class of SISO Nonlinear Systems with Bounded-Input Bounded-Output and Bounded Nonlinearity

Sliding mode control (SMC) has a strong capability in controlling nonlinear systems with uncertainties. However, SMC requires thorough knowledge of the controlled plant parameters and dynamics that is difficult to be obtained or may be unknown, which causes difficulties in calculating the equivalent control law of SMC. To overcome this problem, this paper proposes an adaptive SMC using simple adaptive control (SAC) developed for a class of single-input single-output (SISO) nonlinear systems with unknown parameters and dynamics, bounded-input bounded-output (BIBO), and bounded nonlinearity. The role of SAC is to construct an equivalent control input of adaptive SMC. To construct a corrective control input, this paper applies the sign function with a modified sliding surface. Finally, the stability analysis of the proposed method is carried out, and the effectiveness of this method is confirmed through computer simulations