Adaptive Integral Slinding Mode Control of MIMO systems

Abstract

This paper deals with asymptotic output tracking algorithm using the adaptive sliding mode control. The integral sliding mode is used to nullifies the matched uncertainties and nonlinearities and also to avoid the reaching phase, so that the manifold in reached at the first time. The output feedback and feedforward adaptive mode is used to enforce the outputs of the uncertain control system to track the outputs of the reference model. The output error between the uncertain system and the reference model vanishes asymptotically despite uncertainties and modeling error. Simulations examples are given to demonstrate the usefulness of the proposed algorithm.