Adaptive sliding mode control based on tuning function for nonlinear systems with triangular structure
基于调节函数的一类三角结构非线性系统的自适应滑模控制

In order to deal with the mismatched unknown parameters and nonparametric uncertainties,an adaptive sliding-mode controller is proposed for nonlinear systems with triangular structure.Based on the combination of state reference adaptive control algorithm and sliding mode control strategy,the proposed controller can provide robust output tracking.Compared with the existing controllers,it allows the nonparametric uncertainties and bounded disturbance in the systems.The robustness of the closed loop system is enhanced.Simulations were provided to illustrate the correctness and robustness of the controller.