|A Novel Robust Adaptive Second-order Sliding Mode Tracking Control Technique for Uncertain Dynamical Systems with Matched and Unmatched Disturbances
Saleh Mobayen* and Fairouz Tchier
International Journal of Control, Automation, and Systems, vol. 15, no. 3, pp.1097-1106, 2017
Abstract : "This paper investigates a robust adaptive second-order sliding mode control method for tracking problem
of a class of uncertain linear systems with matched and unmatched disturbances. The fundamental idea of the
suggested control method is that the discontinuous sign function is used for the time-derivative of the control
signal and hence the smooth control input achieved after an integration process is continuous and removes the
chattering problem. Using a PID sliding surface, the finite-time convergence of output tracking errors is obtained.
The adaptive gain-tuning control law removes the necessity of gaining information about the upper bounds of the
external disturbances. The control system is in the sliding mode and then, tracking errors converge to the origin in
a finite time under the presence of the external disturbances. Simulation results on an uncertain numerical system
and a turntable servo-system are presented to indicate the effectiveness and feasibility of the proposed scheme."
"Adaptive gain-tuning, matched and unmatched disturbances, PID sliding surface, robustness, secondorder sliding mode controller."