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Switching Prescribed-Time Adaptive Second-Order Sliding Mode Control Subject to Unknown State-Dependent Uncertainties
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DOI：10.1109/tcyb.2026.3683575.png)
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Abstract
En 中文
In this article, a switching prescribed-time adaptive second-order sliding mode (ASOSM) control framework is proposed for a category of nonlinear systems with unknown time-varying parameters. The design procedure is systematically conducted in three steps. First, by appropriately constructing the sliding variables, the original uncertain system is transformed into a new sliding mode dynamics that alleviates the restrictive relative-degree requirement and reduces input-channel uncertainties. Second, leveraging a time-scaling transformation and a modified adding a power integrator (API) technique, a switching prescribed-time ASOSM controller integrated with parameter adaptation mechanisms is constructed. Third, a rigorous Lyapunov-based stability analysis is provided, showing that the sliding variables are driven into an arbitrarily small neighborhood of the origin within a user-assigned prescribed time, independently of the initial conditions, and subsequently stabilized to the equilibrium point in a finite time. The distinctive merit of the proposed switching control scheme is its capability to handle both matched and mismatched uncertainties, without requiring prior knowledge of their state-dependent bounds. Finally, two representative examples are provided to illustrate the effectiveness of the developed switching control strategy.
Keywords:
Adaptive control
prescribed-time control
second-order sliding mode (SOSM)
state-dependent uncertainty
time-varying parameters
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IF:
10.5
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1.1W
Citations:
5.0W
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