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Mathematical Problems in Engineering - Volume 2014 2014, Article ID 982101, 10 pages -

Research ArticleCollege of Engineering, Nanjing Agricultural University, Nanjing 210031, China

Received 27 March 2014; Revised 1 June 2014; Accepted 11 June 2014; Published 28 August 2014

Academic Editor: Dan Ye

Copyright © 2014 Yue Zhu and Sihong Zhu. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper presents an original adaptive sliding mode control strategy for a class of nonlinear systems on the basis of uncertainty and disturbance estimator. The nonlinear systems can be with parametric uncertainties as well as unmatched uncertainties and external disturbances. The novel adaptive sliding mode control has several advantages over traditional sliding mode control method. Firstly, discontinuous sign function does not exist in the proposed adaptive sliding mode controller, and it is not replaced by saturation function or similar approximation functions as well. Therefore, chattering is avoided in essence, and the chattering avoidance is not at the cost of reducing the robustness of the closed-loop systems. Secondly, the uncertainties do not need to satisfy matching condition and the bounds of uncertainties are not required to be unknown. Thirdly, it is proved that the closed-loop systems have robustness to parameter uncertainties as well as unmatched model uncertainties and external disturbances. The robust stability is analyzed from a second-order linear time invariant system to a nonlinear system gradually. Simulation on a pendulum system with motor dynamics verifies the effectiveness of the proposed method.

Autor: Yue Zhu and Sihong Zhu



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