Barrier function-based adaptive higher order sliding mode controllers - Archive ouverte HAL Access content directly
Journal Articles Automatica Year : 2021

Barrier function-based adaptive higher order sliding mode controllers

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Abstract

In this paper, we present barrier function-based adaptive controllers for fast stabilization of a perturbed chain of integrators with bounded uncertainties. We refer to such controllers as adaptive higher order sliding mode controllers since they are designed for a perturbed chain of integrators of length r with bounded uncertainties such that the uncertainty bounds are unknown. We propose an adaptive control feedback law insuring the following: We provide a barrier function based adaptive controller ensuring the finite-time convergence of solutions to a desired vicinity of origin. Moreover, the homogeneity norm of solutions asymptotically tends to zero. The effectiveness of these controllers is illustrated through simulations
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Dates and versions

hal-03456381 , version 1 (21-11-2022)

Licence

Attribution - NonCommercial - CC BY 4.0

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Salah Laghrouche, Mohamed Harmouche, Yacine Chitour, Hussein Obeid, Leonid M Fridman. Barrier function-based adaptive higher order sliding mode controllers. Automatica, 2021, 123, pp.109355. ⟨10.1016/j.automatica.2020.109355⟩. ⟨hal-03456381⟩
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