Properties of a combined adaptive/second-order sliding mode control algorithm for some classes of uncertain nonlinear systems

Giorgio Bartolini; Antonella Ferrara; Luisa Giacomini; Elio Usai

doi:10.1109/9.867041

Properties of a combined adaptive/second-order sliding mode control algorithm for some classes of uncertain nonlinear systems

Giorgio Bartolini, Antonella Ferrara, Luisa Giacomini, Elio Usai

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Abstract

In this paper, a combined adaptive/variable structure control approach is presented that exploits the good properties of the backstepping procedure and of a second-order sliding-mode control algorithm. This algorithm enables one to attain the conditions S = 0, S = 0 (second-order sliding mode) in a finite time, S = 0 being a predefined sliding manifold. The combined approach retains the stability and convergence features of the original adaptive strategy. In addition, it allows one to deal with systems with uncertainties of more general types, ensuring robustness, as well as a reduction in the computational load.

Original language	English
Pages (from-to)	1334-1341
Number of pages	8
Journal	IEEE Transactions on Automatic Control
Volume	45
Issue number	7
DOIs	https://doi.org/10.1109/9.867041
Publication status	Published - 1 Jul 2000

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Properties of a combined adaptive/second-order sliding mode control algorithm for some classes of uncertain nonlinear systems

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