Barrier function-based adaptive continuous higher-order sliding mode controllers
In this paper two new barrier function-based adaptive continuous higher order sliding mode controllers (CHOSMCs) are presented for perturbed chains of integrators with perturbations constrained by unknown functions. The first class is a continuous generalization of the adaptive discontinuous HOSMC (DHOSMC) and simulations of different scenarios are provided where perturbations are bounded by unknown non-decreasing functions. The second class of adaptive controllers is the adaptive HOST algorithm is studied for the case of Lipschitz unbounded perturbations. Simulations ensure the boundedness of adaptive controllers' gains. Application of the two adaptive continuous HOSMC approaches are presented in order to control the cart-pendulum system.
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