Adaptive Robust Sliding Mode Controllers for a Class of Uncertain Dynamical Systems with Unknown Bounds of uncertainties

The problem of the robust control for a class of uncertain dynamical systems is considered. Here, it is assumed that the uncertainties satisfy the so-called matching conditions and the bounds of the uncertainties contain some unknown constants. For such unknown constants, some modified adaptive laws are proposed to update them. By combining a sliding mode controller with these adaptive laws, we construct a class of adaptive robust sliding mode controllers. Finally, a numerical example is given to compare the proposed method with the conventional one.