Title: Adaptive sliding mode control for a class of mismatched uncertain systems

Authors: Toshio Yoshimura

Addresses: The University of Tokushima, Minamijosanjima-cho 2-1, Tokushima 770-8506, Japan

Abstract: This paper is concerned with an adaptive Sliding Mode Control(SMC) for a class of mismatched uncertain systems. The dynamic system to be considered here is described by a non-linear state equation subject to an uncertain disturbance and the state is measured in the contamination with random noise. The mismatched uncertainties are parameterised linearly in the unknown constant parameter terms, and the estimates for the state and the uncertainties are respectively taken by using the Sliding Mode Observer (SMO) and the Weighted Least Squares Estimator (WLSE). The proposed adaptive SMC is constructed by the information of the estimates for the state and uncertainties. It is verified by using the Lyapunov method that the estimation errors converge to zero as time increases and the dynamic system is ultimately stable on the sliding surface under the action of the proposed adaptive SMC. The effectiveness of the proposed adaptive SMC is illustrated by the simulation experiment in a numerical example, and its applicability is shown in the construction of an active suspension system for one-wheel car models.

Keywords: mismatching uncertain systems; sliding surface; adaptive control; sliding mode control; adaptive SMO; sliding mode observer; WLSE; weighted least squares estimator; active suspension systems; simulation; car models; vehicle suspensions.

DOI: 10.1504/IJMIC.2008.022021

International Journal of Modelling, Identification and Control, 2008 Vol.5 No.2, pp.154 - 165

Published online: 16 Dec 2008 *

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