Adaptive Integral Sliding Mode Control in the Presence of State-Dependent Uncertainty

Journal article (2022)

Authors

Peng Li Southeast University
Di Liu Rijksuniversiteit Groningen, Southeast University
S. Baldi Southeast University, Team Bart De Schutter - Mechanical, Maritime and Materials Engineering
Research Group
Team Bart De Schutter (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2022 Peng Li, Di Liu, S. Baldi
DOI: https://doi.org/10.1109/TMECH.2022.3145910
Uncertainty Mechatronics State-dependent uncertainty Standards Upper bound Adaptive integral sliding mode Aerial vehicle Euler-Lagrange dynamics IEEE transactions Sliding mode control Surface treatment
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Published Date

2022

Language

English

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Delft Center for Systems and Control

Research Group

Team Bart De Schutter

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.