Adaptive variable structure controller with decreasing gain for nonlinear uncertain systems

Abstract

A novel adaptive variable structure controller (AVSC) is proposed for a class of nonlinear uncertain systems. The proposed method guarantees the occurrence of the sliding mode after the state hits the sliding hyperplane for the first time, even though the conventional AVSC could not achieve this. Furthermore, precise a priori knowledge of the bounds for the parametric uncertainties and external disturbances is not needed.