Enhanced Continuous Higher Order Sliding Mode Control with Adaptation

Abstract

This paper proposes a new Continuous Adaptive HOSM control algorithm. The key advantage of the adaption scheme is that it does not require knowledge of the bounds on the matched uncertainty, and the gains themselves are not conservatively overestimated by the adaption scheme – which helps mitigate the problem of chattering. Compared with earlier work, two variable parameters are allowed to adapt and this facilitates much better self-tuning capabilities and improved closed-loop performance.