Abstract
In this paper, an adaptive sliding mode approach based on monitoring functions to deal with disturbances of unknown bounds is proposed. An uncertain linear plant is considered as well as a quite general class of (non) smooth disturbances. Global tracking is demonstrated using only output feedback. The proposed adaptation method is able to make the control gain large when the disturbance grows and decrease it if the latter vanishes, allowing for a reduced chattering occurrence. Simulations are presented to show the potential of the new adaptation scheme in this adverse scenario of possibly growing or temporarily large disturbances.
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