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Barrier function-based adaptive higher order sliding mode controllers ?
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DOI：10.1016/j.automatica.2020.109355.png)
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Abstract
En 中文
In this paper, we present barrier function-based adaptive controllers for fast stabilization of a perturbed chain of integrators with bounded uncertainties. We refer to such controllers as adaptive higher order sliding mode controllers since they are designed for a perturbed chain of integrators of length r with bounded uncertainties such that the uncertainty bounds are unknown. We propose an adaptive control feedback law insuring the following: We provide a barrier function based adaptive controller ensuring the finite-time convergence of solutions to a desired vicinity of origin. Moreover, the homogeneity norm of solutions asymptotically tends to zero. The effectiveness of these controllers is illustrated through simulations. (c) 2020 Elsevier Ltd. All rights reserved.
Keywords:
Adaptive sliding modes
Barrier function
Higher order sliding modes
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