The SDRE compensator controls the nonlinear system in an optimal way while the sliding mode controller guarantees its stability against uncertainties and disturbances.
To improve the chattering induced by the traditional sliding mode control and guarantee the reachability of the system, a specific saturation function with dynamic boundary layer is proposed to replace the sign function in the preceding control law.
In particular, a high-priority task is developed using non-conventional sliding mode control to guarantee safe reference parameters imposed by the task, e.g., keeping a load at a desired orientation (to prevent spill out in the case of liquids, or to reduce undue stresses that may compromise fragile items).
The proposed controller, which combines the advantages of linear and terminal sliding mode controls, can guarantee the convergence of tracking errors in finite time rather than in the asymptotic sense.
If (gamma > left( {k_{1} - 0.05k_{2} + 0.002k_{3} + varvec{GD}_{C} } right)left( {d_{m} - hat{d}} right)), then the stability of the sliding mode control can be guaranteed.
Now, we are in a position to design a suitable sliding mode control law to guarantee the reachability of the specific switching surface.
The sliding mode control with this method guarantees the asymptotic stability of all states of system in presence matched disturbance.
Moreover, the design of the parameters of both the sliding mode control and the switching frequency controller guarantee the fulfilment of the desired output voltage regulation of the Boost converter and the steady state setting of the switching frequency with a known, taylored dynamics.
A sliding mode control strategy is proposed, guaranteeing the compensation of the faulted and perturbed couplings by means of adaptive estimations of unknown controller parameters.
Then, an active fault tolerant tracking strategy for RLV attitude control systems is presented by making use of both adaptive control and sliding mode control techniques, which can guarantee the asymptotic output tracking of the closed-loop attitude control systems in spite of actuator fault.
