In this paper uncertain continuous-time nonlinear systems affine in the control variable and with saturated actuators are considered. The finite-time regulation problem of system output to zero is then solved by proposing a generic Higher-Order Sliding Mode (HOSM) controller equipped novel mechanism encounter saturation limits, thus extending previous results on inputs valid only case specific ...

this paper deals with a globally convergent adaptive and sliding mode control of a cart-pole inverted pendulum for trajectory tracking in the presence of a bounded measurement noise and parameter uncertainty. two kinds of controllers have been used for evaluation of tracking error in presence of a bounded noise; as a result, we want to compare that at what time we can see the convergence of tra...

in this paper, a new robust controller based on geometric homogeneity and adaptive integral sliding mode is proposed for a class of second order systems. the upper bound of the system disturbances is not required. fully unknown parameters have been considered in the described model and its finite–time convergence to zero equilibrium point is proved. moreover, the controller is developed in the ...