Saturated adaptive barrier sliding mode control with state-dependent uncertainty limit

Haifeng Ma, Weixiang Liu, Yangmin Li, Zhanqiang Liu, Sukun Tian

Research output: Journal article publicationJournal articleAcademic researchpeer-review

Abstract

This paper proposed a saturated adaptive barrier sliding mode control (SABSMC) for disturbed systems with parameter uncertainty, external disturbance, and input saturation. One distinctive feature of the proposed method is that even under the influence of input saturation, it is able to drive the system trajectory into a prespecified neighbourhood of the sliding surface, independent of the upper limit of lumped disturbance. Moreover, attributing to the designed adaptive laws, the switching gain of the proposed method can be adaptively adjusted in a wise manner. Another attractive feature of the proposed method is that it removes any presumption of constant upper limit on the lumped disturbance. Instead, SABSMC utilises a more rational state-dependent upper limit assumption. The system dynamics of the closed-loop system is analysed via the Lyapunov method in the presence of parameter uncertainty, external disturbance, and input saturation. The effectiveness of the proposed method is confirmed through numerical simulations.

Original languageEnglish
Pages (from-to)1762-1768
Number of pages7
JournalIET Control Theory and Applications
Volume15
Issue number13
DOIs
Publication statusPublished - Sep 2021

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Human-Computer Interaction
  • Computer Science Applications
  • Control and Optimization
  • Electrical and Electronic Engineering

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