Barrier function-based adaptive higher order sliding mode controllers

Abstract In this paper, we present barrier function-based adaptive controllers for fast stabilization of a perturbed chain integrators with bounded uncertainties. We refer to such as higher order sliding mode since they are designed length r uncertainties that the uncertainty bounds unknown. propose an control feedback law insuring following: provide function based controller ensuring finite-time convergence solutions desired vicinity origin. Moreover, homogeneity norm asymptotically tends zero. The effectiveness these is illustrated through simulations.