摘要：AbstractIn this article, a Lyapunov-based control concept is presented combining variable structure and adaptive control. The considered system class comprises single-input systems which are affected by structured and unstructured uncertainties. The design is based on a Lyapunov function for the super-twisting algorithm. This Lyapunov function is exploited to derive the adaptive part of the proposed controller using the certainty equivalence principle. It is demonstrated that this combination of sliding-mode and adaptive control methodology allows to relax the boundedness condition known from the super-twisting algorithm while reducing the sliding-mode gain significantly. The effectiveness of the presented concept is demonstrated in detail, using results from numerical simulations and experimental data of a laboratory testbed.
关键词：Keywordssliding-modeuncertain systemsrobust controladaptive controlLyapunov theory
