This paper presents an adaptive quasi-optimal higher order sliding-mode control (HOSMC) scheme, which is able to avoid gain overestimation. The overall scheme consists of two elements: 1) a quasi-optimal control law that provides fast finite-time stabilization for a chain of integrators; and 2) an adaptive HOSMC with integration of the quasi-optimal control and the integral sliding-mode concept. The adaptation strategy solves the problem of gain tuning without overestimation and has the advantage of chattering reduction. Moreover, the bounds of the uncertainties are no longer needed in the controller design. Simulation results are provided to demonstrate the effectiveness of the proposed HOSMC algorithm.

中文翻译：

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无增益高估的自适应准最优高阶滑模控制


本文提出了一种自适应准最优高阶滑模控制（HOSMC）方案，能够避免增益高估。总体方案由两个要素组成：1）准最优控制律，为积分器链提供快速有限时间稳定； 2）集成了准最优控制和积分滑模概念的自适应HOSMC。该自适应策略解决了增益调谐问题而无需高估，并具有减少抖振的优​​点。此外，控制器设计中不再需要不确定性的界限。仿真结果证明了所提出的 HOSMC 算法的有效性。