A uniform reaching phase strategy in adaptive sliding mode control

TL;DR

This paper introduces a uniform adaptive reaching phase strategy (ARPS) for sliding mode control that guarantees finite-time convergence within a predefined time, even in the presence of uncertainties and perturbations.

Contribution

It proposes a novel ARPS that ensures uniform reaching time and adapts to perturbations, extending barrier function methods to uncertain MIMO systems.

Findings

ARPS guarantees finite-time convergence within a predefined time.

The approach effectively handles uncertainties in MIMO systems.

It improves robustness and convergence speed in adaptive sliding mode control.

Abstract

In adaptive sliding mode control methods, an updating gain strategy associated with finite-time convergence to the sliding set is essential to deal with matched bounded perturbations with unknown upper-bound. However, the estimation of the finite time of any adaptive design is a complicated task since it depends not only on the upper-bound of unknown perturbation but also on the size of initial conditions. This brief proposes a uniform adaptive reaching phase strategy (ARPS) within a predefined reaching-time. Moreover, as a case of study, the barrier function approach is extended for perturbed MIMO systems with uncertain control matrix. The usage of proposed ARPS in the MIMO case solves simultaneously two issues: giving a uniform reaching phase with a predefined reaching-time and adapting to the perturbation norm while in a predefined vicinity of the sliding manifold.