Abstract
Traditionally, adaptive control is applied to dynamic systems that have constant or slowly-varying, uncertain or unknown parameters, such as, manipulator payloads. In the presence of changing plant dynamics, adaptive control design inherently adjusts control system parameters. Adaptive SMC is a specialized form of adaptive control algorithms that falls into the category of robust adaptive control design. A term is included in the control law development that ensures stability in the presence of disturbances, unmodeled dynamics, and modeling inaccuracies.
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Robinett, R.D. et al. (2002). Adaptive Sliding Mode Control. In: Flexible Robot Dynamics and Controls. International Federation for Systems Research International Series on Systems Science and Engineering, vol 19. Springer, Boston, MA. https://doi.org/10.1007/978-1-4615-0539-6_8
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DOI: https://doi.org/10.1007/978-1-4615-0539-6_8
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