Adaptive higher order sliding mode control for uncertain MIMO nonlinear systems

摘要

An adaptive multivariable fast higher order sliding mode control (HOSMC) scheme for a class of uncertain MIMO nonlinear systems is proposed. Fast HOSMC is based on a switched finite-time control law for a chain of integrators, and fast convergence rate can be guaranteed even under large initial state errors condition. The additive uncertainty of the systems has a functional bound affine in the state norm. Based on integral sliding surfaces, an adaptive fast HOSMC strategy is proposed. Thus, the bounds of the uncertainties are not needed in the procedure of the controller design. The effectiveness of the proposed control scheme is illustrated through simulations.