abstract
- © 2017 IEEE.In this paper an adaptive sliding mode control (SMC) law with self-regulated boundary layer is proposed. The design of the adaptive SMC considers practical issues as actuator limitation/saturation and error tolerance, which is given in terms of the boundary layer presented in real sliding mode. The existence of sliding motion is proved via Lyapunov analysis. Self-regulation to the best value of boundary layer (minimum value) associated with the discrete step size and system's response speed is guarantee. Furthermore, a methodology to estimate the minimum boundary layer involving the sliding surface is given as well as an estimation of the frequency of the sliding surface on steady state. An example and simulations validate the proposed adaptive SMC law are presented.