Non-linear adaptive sliding mode switching control with average dwell-time

Abstract

In this article, an adaptive integral sliding mode control scheme is addressed for switched non-linear systems in the presence of model uncertainties and external disturbances. The control law includes two parts: a slide mode controller for the reduced model of the plant and a compensation controller to deal with the non-linear systems with parameter uncertainties. The adaptive updated laws have been derived from the switched multiple Lyapunov function method, also an admissible switching signal with average dwell-time technique is given. The simplicity of the proposed control scheme facilitates its implementation and the overall control scheme guarantees the global asymptotic stability in the Lyapunov sense such that the sliding surface of the control system is well reached. Simulation results are presented to demonstrate the effectiveness and the feasibility of the proposed approach.

Keywords:

• adaptive integral sliding mode control
• switched multiple Lyapunov function
• average dwell-time

Acknowledgements

The authors gratefully acknowledge the anonymous reviewers for their constructive and insightful comments for further improving the quality of this study. This study is supported by the National Natural Science Foundation of China, nos 60835001, 60804017 and 60764001.