Abstract
This paper presents an adaptive gain algorithm for second order sliding mode control (2-SMC), specifically a super-twisting (STW)-like controller, with fixed convergence time, against perturbations with unknown bounds. The Lyapunov-based 2-SMC adaptive algorithm guarantees reduction of the adaptive gain and provides minimal gain overestimation of the perturbation bounds. The estimate of fixed convergence time of the studied adaptive STW-like controller is derived based on the Lyapunov analysis. The efficacy of the proposed adaptive algorithm is illustrated in a tutorial example, where the adaptive STW-like controller with fixed convergence time is compared to the adaptive STW controller with finite convergence time.
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