| Title |
Design of a Sliding Mode Control with an Adaptation Law for the Upper Bound of the Uncertainties |
| Keywords |
Sliding Mode ; Uncertain Dynamic System ; Robust Control ; Parameter Adaptation ; Fredholm Integral |
| Abstract |
In order to describe the upper bound of the uncertainties without any information of the structure, we assume that the upper bound is represented as a Fredholm integral equation of the first kind, that is, an integral of the product of a predefined kernel with an unknown influence function. Based on the improved Lyapunov function, we propose an adaptation law that is capable of estimating the upper bound and we design a sliding mode control, which controls effectively for uncertain dynamic systems. |