摘要：AbstractThis contribution deals with the combination of higher-order sliding-mode with indirect adaptive control for single-input systems. Sliding-mode controllers are well-suited for bounded uncertainties whereas adaptive controllers may handle parametric uncertainties very well. The idea is to join both methods in order to obtain a new state-feedback controller design with improved robustness for both classes of uncertainties. Extending previous results on this combination, a recently found Lyapunov function allows to extend the approach also to higher-order sliding-mode systems. This way we may provide an adaptation law for the whole system dynamics without requirements on the relative degree of the sliding variable. Some advantages of the proposed extension are demonstrated in numerical simulations.
关键词：KeywordsSliding ModeUncertaintyRobust ControlAdaptive ControlLyapunov Theory
