Sliding mode identification and control for a class of nonlinear systems

Abstract

In this work, the problem of designing a control scheme capable of controlling dynamical systems with unknown time-varying parameters and disturbances, is proposed. In contrast with other works, based on two techniques: adaptive backstepping and sliding modes, an improved method that guaranties the output asymptotic tracking of a smooth reference signal, the stability of the closed-loop system and the identification errors boundedness, is developed. By means of sliding mode observers, the adaptation errors required information is extracted and injected to adaptive laws. The behavior of the proposed control scheme is analyzed by Lyapunov method. The performance of the proposed system is verified with an academic example.