Properties of a combined adaptive/second-order sliding mode control algorithm for some classes of uncertain nonlinear systems

  title={Properties of a combined adaptive/second-order sliding mode control algorithm for some classes of uncertain nonlinear systems},
  author={Giorgio Bartolini and Antonella Ferrara and Luisa Giacomini and Elio Usai},
  journal={IEEE Trans. Autom. Control.},
In this paper, a combined adaptive/variable structure control approach is presented that exploits the good properties of the backstepping procedure and of a second-order sliding-mode control algorithm. This algorithm enables one to attain the conditions S=0, S/spl dot/=0 (second-order sliding mode) in a finite time, S=0 being a predefined sliding manifold. The combined approach retains the stability and convergence features of the original adaptive strategy. In addition, it allows one to deal… 

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