Adaptive sliding mode control with smooth switching gain

This paper proposes an alternative approach to adaptive sliding mode controller (ASMC) design for nonlinear systems with uncertainties of unknown bounds. A smooth adaptation tuning approach is developed to enhance the accuracy and suppress the chattering phenomenon without overestimation of the uncertainty magnitude. The robustness is proven using the Lyapunov stability criterion. Numerical simulation results are performed to demonstrate the effectiveness of the proposed algorithm.