Model free adaptive double sliding mode control based on U-control framework

• Fengxia Xu

  Qiqihar University

• WenYuan Cao

  Qiqihar University

• Zhongda Lu

  Qiqihar University

• Qingtao Wu

  Qiqihar University

This paper investigates the high-precision control problem of nonlinear continuous systems with strong uncertainty, and proposes a model free adaptive double sliding mode control based on the U-model control framework. On the basis of using a double sliding mode controller as the dynamic inversion (DI) in the U-model control framework, this paper designs a novel adaptive controller. Compared with the traditional double sliding mode controller, the controller designed in this paper no longer needs to select gain parameters based on experience, but adopts an adaptive method of integrating the sliding mode function to adaptively adjust the equivalent control gain and switching control gain contained in the traditional double sliding mode controller. Meanwhile, this paper demonstrates the stability of this novel adaptive controller using Lyapunov stability theory. Therefore, this controller can solve the high-precision control problem of a class of SISO nonlinear continuous systems with completely mismatched models. The results show that the proposed adaptive controller can adaptively adjust the gain parameters and ensure system stability, while having better accuracy than traditional double sliding mode controllers. Finally, the superiority of this adaptive controller was demonstrated through simulation experiments.

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