Adaptive Second-Order Sliding Mode Control: A Lyapunov Approach
Shihong Ding, Keqi Mei, Xinghuo Yu
Abstract
This article proposes an adaptive second-order sliding mode (ASOSM) controller design by means of the Lyapunov method. The notable feature of the proposed algorithm is that it only needs boundedness of the uncertainties, whereas boundedness of the derivatives of uncertainties is not demanded. Under the proposed ASOSM control scheme, the gain can be dynamically tuned, which avoids gain overestimation. The finite-time stability of the closed-loop ASOSM dynamics is proved via the Lyapunov theory. Finally, the simulation results are shown to validate the theoretical analysis.
Topics & Concepts
Control theory (sociology)Lyapunov functionSliding mode controlController (irrigation)Adaptive controlLyapunov stabilityLyapunov redesignStability (learning theory)Lyapunov equationMode (computer interface)MathematicsComputer scienceControl (management)Nonlinear systemQuantum mechanicsAgronomyMachine learningPhysicsArtificial intelligenceBiologyOperating systemAdaptive Control of Nonlinear SystemsStability and Control of Uncertain SystemsAdaptive Dynamic Programming Control