Barrier Function-Based Adaptive Continuous Higher-Order Sliding Mode Controllers with Unbounded Perturbations
Optimization and Control
2022-06-23 v1
Abstract
In this paper, two classes of continuous higher order adaptive sliding mode controllers based on barrier functions are developed for a perturbed chain of integrators with unbounded perturbations. Both classes provide finite-time convergence of system states to a predefined domain using a continuous control signal. The first class of adaptive controllers does not require any assumptions about the perturbation; however, it can provide unbounded control gains. To ensure bounded control gains, and in the case of a Lipschitz perturbation, a second class of adaptive controllers, called the adaptive higher order Super-Twisting (HOST) algorithm, is developed.
Keywords
Cite
@article{arxiv.2206.10904,
title = {Barrier Function-Based Adaptive Continuous Higher-Order Sliding Mode Controllers with Unbounded Perturbations},
author = {Yacine Chitour and Hussein Obeid and Salah Laghrouche and Leonid Fridman},
journal= {arXiv preprint arXiv:2206.10904},
year = {2022}
}