Robust control of electropneumatic actuator position via adaptive sliding mode approach
An Adaptive Sliding Mode Control (ASMC) for a class of nonlinear Multi Input Multi Output (MIMO) systems is presented in this paper. In order to reduce the chattering phenomenon without deteriorating the tracking performance, the discontinuous term of the classical sliding mode law is substituted with an adaptive Proportional Derivative (PD) term. The effect of the approximation error which arises from the PD term is reduced by adding a robust term in the proposed control law. All parameters, adaptive laws and robust control term, are derived based on the Lyapunov stability analysis. The overall adaptive sliding mode scheme guarantees the asymptotic convergence to zero of tracking errors and the boundedness of all signals in the closed-loop system. The proposed approach is applied to a Turbocharged Diesel Engine. Simulation results are presented to show the efficiency of the proposed method.