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

    Research output: Contribution to journalArticlepeer-review

    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 languageEnglish
    Pages (from-to)1334-1341
    Number of pages8
    JournalIEEE Transactions on Automatic Control
    Volume45
    Issue number7
    DOIs
    Publication statusPublished - 1 Jul 2000

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