Adaptive continuous higher order sliding mode control
Edwards, Christopher; Shtessel, Yuri
Date: 6 November 2015
Journal
Automatica
Publisher
Elsevier
Abstract
This paper is concerned with the development of an adaptation structure which can be applied to conventional, super-twisting and
higher-order sliding mode schemes. The objective is to alter the modulation gains associated with these schemes in such a way
that they are as small as possible to mitigate chattering effects, but large ...
This paper is concerned with the development of an adaptation structure which can be applied to conventional, super-twisting and
higher-order sliding mode schemes. The objective is to alter the modulation gains associated with these schemes in such a way
that they are as small as possible to mitigate chattering effects, but large enough to ensure that sliding can be maintained in the
presence of bounded and derivative bounded uncertainties. In all the proposed schemes, the equivalent control is used to drive
the adaptive mechanism. The approach is based on a novel dual layer nested adaptive methodology which is quite different to the
existing schemes proposed in the sliding mode literature. The new adaptive schemes do not require knowledge of the minimum and
maximum allowed values of the ada
Engineering
Faculty of Environment, Science and Economy
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