Design of Robust Sliding Mode Control With Adaptive Reaching Law

Abstract

In this paper, a novel robust sliding mode control with adaptive reaching law (RSMC-ARL) is developed for a class of second-order nonlinear systems. First, a novel adaptive reaching law (ARL), utilizing a time-varying sliding surface, is designed to achieve fast convergence as well as maintain high accuracy for RSMC-ARL. Second, an adaptive tuning approach is developed to adjust the control law without frequency switching and avoid undesired chattering phenomenon. Then, the global robustness can be obtained against the uncertainties and external disturbances for nonlinear systems. Third, by constructing the Lyapunov function, the reachability and stability of RSMC-ARL can be guaranteed. Finally, three different second-order nonlinear systems are used to test the effectiveness of RSMC-ARL. The results have demonstrated that the proposed method can achieve fast convergence and high accuracy in comparison with some existing methods.