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 m...

This paper proposes a novel adaptive Super-Twisting sliding mode control for a microgyroscope under unknown model uncertainties and external disturbances. In order to improve the convergence rate of reaching the sliding surface and the accuracy of regulating and trajectory tracking, a high order Super-Twisting sliding mode control strategy is employed, which not only can combine the advantages ...

Abstract This paper studies the robust optimal control problem for robot tracking system. An optimal sliding mode control law is designed to solve this problem. Integral sliding mode control is employed to combine the first-order sliding mode with optimal control approach and is applied to robust control of robot manipulators. For the optimal control part, the Lyapunov optimizing control method...