Adaptive integral higher order sliding mode controller for uncertain systems |
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Authors: | Sanjoy MONDAL and Chitralekha MAHANTA |
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Affiliation: | 1. Department of Electronics and Electrical Engineering, Indian Institute of Technology Guwahati, Assam, 781039, India
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Abstract: | This paper proposes an adaptive integral higher order sliding mode (HOSM) controller for uncertain systems. Instead of a regular control input, the derivative of the control input is used in the proposed control law. The discontinuous sign function in the controller is made to act on the time derivative of the control input. The actual control signal obtained by integrating the derivative control signal is smooth and chattering free. The adaptive tuning law used in the proposed controller eliminates the need of prior knowledge about the upper bound of the system uncertainties. Stability and robustness of the proposed controller are proved by using the classical Lyapunov criterion. Simulation results demonstrate the advantages of the proposed control scheme. |
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Keywords: | Higher order sliding mode Adaptive tuning Integral sliding mode Uncertain systems Chattering |
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