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An adaptive full order sliding mode controller for mismatched uncertain systems

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Abstract

In this paper, an adaptive full order sliding mode (FOSM) controller is proposed for strict feedback nonlinear systems with mismatched uncertainties. The design objective of the controller is to track a specified trajectory in presence of significant mismatched uncertainties. In the first step the dynamic model for the first state is considered by the desired tracking signal. After the first step the desired dynamic model for each state is defined by the previous one. An adaptive tuning law is developed for the FOSM controller to deal with the bounded system uncertainty. The major advantages offered by this adaptive FOSM controller are that advanced knowledge about the upper bound of the system uncertainties is not a necessary requirement and the proposed method is an effective solution for the chattering elimination from the control signal. The controller is designed considering the full-order sliding surface. System robustness and the stability of the controller are proved by using the Lyapunov technique. A systematic adaptive step by step design method using the full order sliding surface for mismatched nonlinear systems is presented. Simulation results validate the effectiveness of the proposed control law.

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Authors and Affiliations

  1. Department of Electrical Engineering, Ecole de technologie superieure, Montreal, H3C1K3, Canada

    Sanjoy Mondal, Jawhar Ghommam & Maarouf Saad

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  1. Sanjoy Mondal
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  2. Jawhar Ghommam
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  3. Maarouf Saad
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Corresponding author

Correspondence to Sanjoy Mondal.

Additional information

Sanjoy Mondal received the Ph.D. degree in electronics and electrical engineering from Indian Institute of Technology Guwahati, India in 2013. From 2014 to 2015, he was with Ecole de technologie superieure (ETS) University Montreal, Canada, conducting postdoctoral research. In August 2015, he joined Nanyang Technological University, Singapore, where he is currently an research associate.

His research interests include intelligent control systems, cooperative control, finite time control, signal processing, image processing, and embedded systems.

ORCID iD: 0000-0003-1011-7627

Jawhar Ghommam received the B. Sc. degree from Institut Nationale des Sciences Appliques et de Technologies (INSAT), Tunisia in 2003, the M. Sc. degree in control engineering from the Laboratoire d’Informatique, de Robotique et de Microelectronique (LIRMM), Montpellier, France in 2004, and the Ph.D. degree in control engineering and industrial computing from the Universit of Orlans, France in 2008, and Ecole Nationale d’Ingnieurs de Sfax, Tunisia. He is an assistant professor of Control Engineering at the Institut Nationale des Sciences Appliques et de Technologies (INSAT), Tunisia. He is a member of the research unit on MEChatronics and Autonomous systems (MECA).

His research interests include nonlinear control of underactuated mechanical systems, adaptive control, guidance and control of underactuated ships and cooperative motion of nonholonomic vehicles.

Maarouf Saad recevied the B. Sc. and M. Sc. degrees in electrical engineering from the Polytechnic School of Montreal, Canada in 1982 and 1984, respectively. He recevied the Ph.D. degree in electrical engineering from McGill University, Canada in 1988. At present he holds the position of professor at cole de technologie suprieure, Montreal, Canada, where he teaches the theory of control and robotics.

His research interests include the nonlinear control and optimization applied to robotics, avionics and control of electrical networks.

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Mondal, S., Ghommam, J. & Saad, M. An adaptive full order sliding mode controller for mismatched uncertain systems. Int. J. Autom. Comput. 14, 191–201 (2017). https://doi.org/10.1007/s11633-017-1057-z

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