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A Practical Approach to Adaptive Sliding Mode Control

José Antonio González*, Antonio Barreiro, and Sebastián Dormido
International Journal of Control, Automation, and Systems, vol. 17, no. 10, pp.2452-2461, 2019

Abstract : This paper is concerned with the development of a practical approach to the design of adaptive sliding mode controllers. The objective is to define an adaptive control law that presents some desired advantages such as non overestimation of the disturbance input, cancellation of the chattering phenomenon, zero overshooting response, avoid control saturation and simplicity of algorithm tuning. In this practical approach a solution is provided that uses both, adaptive sliding surfaces and adaptive control gains so the proposed controller is able to manage input disturbances with bounded derivatives.

Keyword : Adaptive sliding mode, adaptive sliding surfaces, chattering avoidance, zero overshoot response.

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