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Adaptive Sliding Mode Control Using Monitoring Functions

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New Perspectives and Applications of Modern Control Theory

Abstract

In this chapter, we propose an adaptive sliding mode control approach based on monitoring functions, to deal with disturbances of unknown bounds. An uncertain linear system is considered as well as a quite general class of non-smooth disturbances. Global tracking is demonstrated using only output feedback. The proposed adaptation method is able to make the control gain less conservative, but large enough when the disturbance grows and allows it to decrease if the latter vanishes, leading to reduced chattering effects. Simulations are presented to show the potential of the new adaptation scheme in this adverse scenario of possibly growing, temporarily large, or vanishing disturbances.

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Acknowledgements

The authors thank the Brazilian funding agencies CAPES, CNPq and FAPERJ for the financial support.

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Authors and Affiliations

  1. COPPE/Federal University of Rio de Janeiro, Rio de Janeiro, Brazil

    Liu Hsu

  2. State University of Rio de Janeiro, Rio de Janeiro, Brazil

    Tiago Roux Oliveira, Gabriel Tavares Melo & José Paulo V. S. Cunha

Authors
  1. Liu Hsu
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  2. Tiago Roux Oliveira
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  3. Gabriel Tavares Melo
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  4. José Paulo V. S. Cunha
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Corresponding author

Correspondence to Tiago Roux Oliveira .

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Editors and Affiliations

  1. Centro de Investigaciones Económicas, Administrativas y Sociales, Instituto Politécnico Nacional, Mexico city, Mexico

    Julio B. Clempner

  2. Department of Automatic Control, Center for Research and Advanced Studies, Mexico city, Mexico

    Wen Yu

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Hsu, L., Oliveira, T.R., Melo, G.T., Cunha, J.P.V.S. (2018). Adaptive Sliding Mode Control Using Monitoring Functions. In: Clempner, J., Yu, W. (eds) New Perspectives and Applications of Modern Control Theory. Springer, Cham. https://doi.org/10.1007/978-3-319-62464-8_11

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  • DOI: https://doi.org/10.1007/978-3-319-62464-8_11

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-62463-1

  • Online ISBN: 978-3-319-62464-8

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