Adaptive Integral Sliding Mode Control in the Presence of State-Dependent Uncertainty

Adaptive integral sliding mode control (AISMC) is an extension of adaptive which a way to ensure motion while handling system uncertainties. However, conventional AISMC formulations require different extent a priori knowledge the uncertainty: either upper bound uncertainty or its time derivative are assumed be bounded , parametrized by some structure-dependent factorization. This work proposes variant with reduced it shown that Euler–Lagrange dynamics typical literature admit structure-independent parametrization uncertainty. not result structural knowledge, but comes from basic properties dynamics, valid independently on structure system. The method arising this analyzed in Lyapunov stability framework, and validated systems structures: surface vessel aerial vehicle.