A model-based adaptive sliding controller

Abstract

This paper presents a new model-based adaptive sliding controller applicable to a class of uncertain nonlinear dynamical systems. The proposed controller combines elements of adaptive techniques and sliding control principles in a new model-based strategy which achieves a reduction of the asymptotic sliding control gain (thus significantly reducing the magnitude of the control signal chattering typically associated with sliding control) while ensuring that the sliding condition is maintained. An analysis that demonstrates the stability and convergence properties of the proposed controller are provided, and the paper also includes simulation results which demonstrate the effectiveness of the proposed strategy.