New design methodology for adaptive switching gain based discrete-time sliding mode control

Journal article (2019)

Authors

Nalin Kumar Sharma Indian Institute of Technology Delhi
S. Roy Indian Institute of Technology Delhi, Ship Design, Production and Operations - Mechanical, Maritime and Materials Engineering
S. Janardhanan Indian Institute of Technology Delhi
Research Group
Ship Design, Production and Operations (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2019 Nalin Kumar Sharma, S. Roy, S. Janardhanan
DOI: https://doi.org/10.1080/00207179.2019.1632489
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Published Date

2019

Language

English

Faculty

Mechanical, Maritime and Materials Engineering

Department

Marine and Transport Technology

Research Group

Ship Design, Production and Operations

Abstract

The adaptive sliding mode control technique relaxes the assumption of known bound of the disturbance in discrete-time systems. However, the existing technique of gain adaptation in discrete-time sliding mode control has issues of gain overestimation and underestimation. Therefore, this paper proposes a technique to adapt the switching gain such that the adaptive gain can tackle the uncertainty without any knowledge of the bound of uncertainty while overcoming the over- and under-estimation problems of switching gain.