Research and Design of an Adaptive Global Sliding Mode Variable Structure Controller

In order to eliminate the reaching phase of traditional sliding mode variable structure control system and achieve the estimations of system uncertainties for the control of a nonlinear uncertain system,an adaptive global sliding mode variable structure controller(AGSMVSC) was designed by combining the global sliding mode variable structure control(GSMVSC) with adaptive control.The system state variables reached the sliding surface at the very beginning by means of designing a dynamic nonlinear sliding mode function,and moved to the expected state under the control of control law.The robustness was obtained during the whole response course,and the chattering was greatly alleviated by real-time adjusting controller's parameters with the estimated ones which were achieved by adaptive laws.Simulation results show that the control system has perfect robust performance.