Sliding mode control with adaptive vss observer

Abstract

The conventional sliding mode control or variable structure control (VSC) of a nonlinear uncertain system is well known for its robust property and simplicity of control law. However, the use of either is permitted only on the assumption that the upper bound of parameter variation or nonlinearity is known and that the complete information about the state is available. Although the former has recently been solved with adaptive robust control theory, the latter does not appear to be solved. This paper attempted to solve this problem using the technique of VSS adaptive robust control theory. That is, a VSS adaptive observer and a sliding mode control incorporated with this observer was proposed. The robust stability of the closed system can be proved applying Lyapunov's second method.