Adaptive seeking sliding mode control

This paper proposes a new sliding mode design concept, namely adaptive seeking sliding mode control for a class of nonlinear systems. While reserving the properties of the sliding mode control, like insensitivity to parameter variations and complete rejection of disturbances, adaptive seeking sliding mode control offers a promising robust sliding mode control solutions for real-life engineering applications with simple control structure. The proposed sliding mode control method is continuous in nature and applies a floating gain to relieve the chattering problem accompanying most sliding mode control systems when the unknown disturbances are continuous and slowly varying. The unknown uncertainties and disturbances in system can be adaptively estimated and compensated by adaptive seeking sliding mode controller. This paper establishes a theoretical foundation for adaptive seeking sliding mode control strategy.