Abstract
This paper deals with the problem of adaptive sliding mode control for systems with nonlinear control inputs, one-sided Lipschitz (OSL) nonlinearities, unknown disturbances and parameter uncertainties. At first, a synthesis condition of asymptotic stability is derived in terms of linear matrix inequalities (LMIs). Then, the control law which ensures reaching and occurrence of the sliding mode is designed. Any knowledge of the upper bound on the perturbation is not required and an adaptation law is proposed. At last, a simulation example is given to illustrate the feasibility of the proposed approach.
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