Adaptive Quasi-Optimal Higher Order Sliding-Mode Control Without Gain Overestimation

Peng Li, Xiang Yu, Bing Xiao

Research output: Contribution to journalArticlepeer-review

43 Scopus citations

Abstract

This paper presents an adaptive quasi-optimal higher order sliding-mode control (HOSMC) scheme, which is able to avoid gain overestimation. The overall scheme consists of two elements: 1) a quasi-optimal control law that provides fast finite-time stabilization for a chain of integrators; and 2) an adaptive HOSMC with integration of the quasi-optimal control and the integral sliding-mode concept. The adaptation strategy solves the problem of gain tuning without overestimation and has the advantage of chattering reduction. Moreover, the bounds of the uncertainties are no longer needed in the controller design. Simulation results are provided to demonstrate the effectiveness of the proposed HOSMC algorithm.

Original languageEnglish
Article number8240632
Pages (from-to)3881-3891
Number of pages11
JournalIEEE Transactions on Industrial Informatics
Volume14
Issue number9
DOIs
StatePublished - Sep 2018

Keywords

  • Gain adaptation
  • higher order sliding mode
  • overestimation
  • quasi-optimal

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