Adaptive Barrier Sliding Mode Control Considering State Dependent Uncertainty

Aiming at the robust control problem of disturbed systems that contain uncertain parameters, a novel control scheme termed adaptive barrier sliding-mode control (ABSMC) is presented. The proposed ABSMC contains an adaptive switching gain based on the barrier function along with a state-dependent assumption of the lumped uncertainty. Distinguished from exist-ing similar works, the obvious advantage of the proposed scheme is that ABSMC enables convergence of the system trajectory and holds it within a predefined vicinity of the sliding surface inde-pendent of the lumped uncertainty, without control gain overes-timation. Moreover, the conventionally adopted priori constant boundedness assumption of the lumped uncertainty is replaced by a more reasonable state-dependent assumption. The stability analysis of the controlled system is carried out through Lyapunov theorem. The performance improvement of the proposed scheme is validated through comparative simulation.