Adaptive Sliding Controller for Uncertain Second Order Systems.

Abstract

In this paper an adaptive sliding controller is presented for second order nonlinear systems with system parameter uncertainties. Using an adaptive technique to estimate uncertain system parameters, an adaptive sliding controller is then proposed to ensure that the sliding condition is maintained in finite time. The proposed adaptive sliding control scheme can be implemented without the requirement that the bounds of uncertain system parameters should be known in advance. Furthermore, the control chattering drawback occurred in the classical sliding mode control can be alleviated in the proposed control scheme. To show the effectiveness of the proposed scheme, some simulation results are presented.