Integral-Type Sliding-Mode Control for a Class of Mechatronic Systems With Gain Adaptation

This article proposes a continuous adaptive integral-type sliding-mode control approach for a class of mechatronic systems by taking into consideration matched and unmatched uncertainties, and uncertainty in the control gain. Four different sliding-mode controllers are designed to enable: 1) the avoidance of the singularity by preventing differentiating the system states with fractional power; and 2) the attenuation of the chattering by utilizing full-order sliding manifolds. The control gain adaptation in the full-order sliding-mode controller is presented to avoid the overestimation of the gain. With the continuous control in place, the mechatronic systems have a fast response with high precision. The soften action from carefully designed controllers with the gain adaptation guarantees the trajectories of the mechatronic systems to move smoothly and prevents damage to the mechanical components of the systems. Both the simulation and experimental results demonstrate the effectiveness and feasibility of the proposed control approach.