Print Email Facebook Twitter Adaptive Integral Sliding Mode Control in the Presence of State-Dependent Uncertainty Title Adaptive Integral Sliding Mode Control in the Presence of State-Dependent Uncertainty Author Li, Peng (Southeast University) Liu, Di (Southeast University; Rijksuniversiteit Groningen) Baldi, S. (TU Delft Team Bart De Schutter; Southeast University) Date 2022 Abstract Adaptive integral sliding mode control (AISMC) is an extension of adaptive sliding mode control which is a way to ensure sliding motion while handling system uncertainties. However, conventional AISMC formulations require to different extent a priori knowledge of the system uncertainty: either the upper bound of the uncertainty or of its time derivative are assumed to be bounded a priori, or the uncertainty is assumed to be parametrized by some structure-dependent factorization. This work proposes a variant of AISMC with reduced a priori knowledge of the system uncertainty: it is shown that Euler-Lagrange dynamics typical of sliding mode literature admit a structure-independent parametrization of the system uncertainty. This parametrization is not the result of structural knowledge, but it comes from basic properties of Euler-Lagrange dynamics, valid independently on the structure of the system. The AISMC control method arising from this parametrization is analyzed in the Lyapunov stability framework, and validated in systems with different structures: a surface vessel and an aerial vehicle. Subject Adaptive integral sliding modeaerial vehicleEuler-Lagrange dynamicsIEEE transactionsMechatronicsSliding mode controlStandardsstate-dependent uncertaintySurface treatmentUncertaintyUpper bound To reference this document use: http://resolver.tudelft.nl/uuid:f4160d66-be20-4480-8a20-483be3f50644 DOI https://doi.org/10.1109/TMECH.2022.3145910 Embargo date 2023-07-01 ISSN 1083-4435 Source IEEE - ASME Transactions on Mechatronics, 27 (5), 3885-3895 Bibliographical note Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. Part of collection Institutional Repository Document type journal article Rights © 2022 Peng Li, Di Liu, S. Baldi Files PDF Adaptive_Integral_Sliding ... tainty.pdf 3.03 MB Close viewer /islandora/object/uuid:f4160d66-be20-4480-8a20-483be3f50644/datastream/OBJ/view