Practical stabilization of perturbed integrator chains with unknown bounds

TL;DR

This paper introduces Lyapunov-based adaptive controllers for stabilizing perturbed integrator chains with unknown bounded uncertainties, ensuring system trajectories reach and stay within a desired neighborhood.

Contribution

It proposes Adaptive Higher Order Sliding Mode controllers that guarantee practical stabilization despite unknown uncertainty bounds in nonlinear systems.

Findings

Controllers ensure trajectories enter and remain in a neighborhood of the origin.

Simulation results demonstrate effectiveness of the proposed controllers.

Abstract

In this paper, we present Lyapunov-based adaptive controllers for the practical (or real) stabilization of a perturbed chain of integrators with bounded uncertainties. We refer to such controllers as Adaptive Higher Order Sliding Mode (AHOSM) controllers since they are designed for nonlinear SISO systems with bounded uncertainties such that the uncertainty bounds are unknown. Our main result states that, given any neighborhood N of the origin, we determine a controller insuring, for every uncertainty bounds, that every trajectory of the corresponding closed loop system enters N and eventually remains there. The effectiveness of these controllers is illustrated through simulations.