Dual layer barrier functions based adaptive higher order sliding mode control
Hussein Obeid, Salah Laghrouche, Leonid Fridman
Abstract
Abstract This article presents an adaptive discontinuous higher order sliding mode control (HOSMC) strategy for a disturbed chain of integrators of order n . This strategy employs a barrier function‐based dual layer adaptation and it ensures the convergence of the sliding variable and its ( n − 1) first derivatives to zero without requiring any information on the bounds of the disturbances or their derivatives. It consists in applying a barrier function‐based adaptive super‐twisting methodology compensating Lipschitz disturbances with some error, and a growing gain‐based adaptive HOSMC which just needs to counteract this error. Real‐time simulation platform is used to test the efficacy of the proposed strategy to control a linear induction motor considering dynamic end effects.