Higher order sliding mode control based on adaptive first order sliding mode controller
نویسندگان
چکیده
This paper presents an adaptive higher order sliding mode controller based on first adaptive sliding mode control and an integral sliding variable. The idea is based on the definition of a nominal control which can stabilize a pure chain of integrators to zero in finite time. The novelty of the proposed approach is that uncertainties/perturbations effects are rejected by a first order sliding mode control tuned without any information about the bounds of the uncertainties. The efficiency of this controller is evaluated on an academic example with two kinds of nominal controls.
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