New design methodology for adaptive switching gain based discrete-time sliding mode control
Nalin Kumar Sharma (Indian Institute of Technology Delhi)
S. Roy (Indian Institute of Technology Delhi, TU Delft - Ship Design, Production and Operations)
S. Janardhanan (Indian Institute of Technology Delhi)
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Abstract
The adaptive sliding mode control technique relaxes the assumption of known bound of the disturbance in discrete-time systems. However, the existing technique of gain adaptation in discrete-time sliding mode control has issues of gain overestimation and underestimation. Therefore, this paper proposes a technique to adapt the switching gain such that the adaptive gain can tackle the uncertainty without any knowledge of the bound of uncertainty while overcoming the over- and under-estimation problems of switching gain.
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