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Adaptive integral higher order sliding mode controller for uncertain systems

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Abstract

This paper proposes an adaptive integral higher order sliding mode (HOSM) controller for uncertain systems. Instead of a regular control input, the derivative of the control input is used in the proposed control law. The discontinuous sign function in the controller is made to act on the time derivative of the control input. The actual control signal obtained by integrating the derivative control signal is smooth and chattering free. The adaptive tuning law used in the proposed controller eliminates the need of prior knowledge about the upper bound of the system uncertainties. Stability and robustness of the proposed controller are proved by using the classical Lyapunov criterion. Simulation results demonstrate the advantages of the proposed control scheme.

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Authors and Affiliations

  1. Department of Electronics and Electrical Engineering, Indian Institute of Technology Guwahati, Assam, 781039, India

    Sanjoy Mondal & Chitralekha Mahanta

Authors
  1. Sanjoy Mondal
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  2. Chitralekha Mahanta
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Correspondence to Sanjoy Mondal.

Additional information

Sanjoy MONDAL received his B.Tech and M.Tech degree in Electrical Engineering from National Institute of Technology, Durgapur, India. Currently, he is a Ph.D. candidate at the Department of Electronics and Electrical Engineering, Indian Institute of Technology Guwahati, India. His research interests include sliding mode control and robust control.

Chitralekha MAHANTA received her M.Tech and Ph.D. degrees in Electrical Engineering from Indian Institute of Technology Delhi, India. Currently, she is an associate professor in the Department of Electronics and Electrical Engineering, Indian Institute of Technology Guwahati, India. Her research interests include control theory application, robust control and intelligent control.

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Mondal, S., Mahanta, C. Adaptive integral higher order sliding mode controller for uncertain systems. J. Control Theory Appl. 11, 61–68 (2013). https://doi.org/10.1007/s11768-013-1180-5

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  • DOI: https://doi.org/10.1007/s11768-013-1180-5

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