Sliding Mode Control of Nonlinear Systems With Input Distribution Uncertainties

In this paper, a sliding mode control design method is developed for a class of fully nonlinear systems in generalized regular form, where both input distribution uncertainty and system uncertainties are considered. Based on the generalized regular form, a novel nonlinear sliding surface is designed and uniform ultimate stability of the corresponding sliding mode dynamics is analyzed. Then, under the assumption that the uncertainties are bounded by known nonlinear functions of the system states, a sliding mode controller is formulated to ensure that the dynamical system reaches the sliding surface in finite time even in the presence of the system uncertainties and input distribution uncertainties. Further, for the case of system uncertainty with unknown bound in parameterized form, an adaptive sliding mode controller is developed to drive the dynamical system to the sliding surface and maintain a sliding motion thereafter. The developed sliding mode controller is applied to a High Incidence Research Model (HIRM) aircraft model. Simulation results demonstrate that the developed methods are effective.