Adaptive Sliding Mode Control

Traditionally, adaptive control is applied to dynamic systems that have constant or slowly-varying, uncertain or unknown parameters, such as, manipulator payloads. In the presence of changing plant dynamics, adaptive control design inherently adjusts control system parameters. Adaptive SMC is a specialized form of adaptive control algorithms that falls into the category of robust adaptive control design. A term is included in the control law development that ensures stability in the presence of disturbances, unmodeled dynamics, and modeling inaccuracies.