Technical Communique: A Sliding Mode Controller with Improved Adaptation Laws for the Upper Bounds on the Norm of Uncertainties

Authors:
GRAHAM WHEELER;CHUN-YI SU;YURY STEPANENKO
Affiliations:
Department of Mechanical Engineering, University of Victoria, Victoria, B.C. V8W 3P6, Canada.;Department of Mechanical Engineering, Concordia University, Montreal, Quebec, H3G 1M8, Canada.;Department of Mechanical Engineering, University of Victoria, Victoria, B.C. V8W 3P6, Canada.
Venue:
Automatica (Journal of IFAC)
Year:
1998

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Abstract

In this paper an improved adaptation law on the upper bound of uncertainties is proposed to guarantee the boundednenss of both states of the plant and the estimated control gains when the boundary layer technique is employed.