Adaptive sliding-mode control for nonlinear systems with uncertain parameters.

This correspondence proposes a systematic adaptive sliding-mode controller design for the robust control of nonlinear systems with uncertain parameters. An adaptation tuning approach without high-frequency switching is developed to deal with unknown but bounded system uncertainties. Tracking performance is guaranteed.

Sliding mode control with self-tuning law for uncertain nonlinear systems.

A robust sliding mode control that follows a self-tuning law for nonlinear systems possessing uncertain parameters is proposed. The adjustable control gain and a bipolar sigmoid function are on-line tuned to force the tracking error to approach zero. Control system stability is ensured using the Lyapunov method.