A Model Reference Adaptive Continuous Sliding-Mode Control

Abstract

This paper deals with the problem of robust tracking for a class of scalar linear systems. To this aim, a nonlinear control law is proposed based on a Model Reference Adaptive Continuous Sliding-Mode Control (MRA Continuous-SMC) approach. Such an approach is composed of nonlinear adaptive gains that provide a rate of convergence faster than exponential and ensure convergence to zero of the tracking error. The corresponding convergence proofs are based on a Lyapunov function approach. Finally, some simulation results show the feasibility of the proposed scheme.