Model-Free Adaptive Sliding Mode Control for Nonlinear Systems with Uncertainties

This paper proposes a novel model-free adaptive sliding mode controller for nonlinear systems with uncertainties. The use of model-free control philosophy avoids the impact of inaccurate modeling on the system. The control accuracy and robustness of the system are improved by adopting the sliding mode algorithm. The adaptive gain and saturation function are used to reduce system chattering. Further, to address the problem of parameter changes and external strong disturbance during system operation, a new extended state observer (ESO) is proposed, and the observed state errors is ensured to asymptotically converge to zero. Finally, simulation experiment results are verified the effectiveness of the proposed control strategy.