Robust Sliding Mode Control for Time-Varying Systems With Adaptive Prescribed Performance

The system parameter variations will degrade the system performances, and they can not be estimated in time. This paper proposes a robust sliding mode control for time-varying systems with adaptive prescribed performance. Firstly, an adaptive prescribed performance function (PPF) is defined to overcome the singular problem that may occur in traditional PPFs. Based on the proposed PPF, the robust sliding mode control is proposed for systems with time-varying parameters. Instead of parameter estimation, their upper or lower bounds are used to design the controller. The system stability is analyzed by the Lyapunov function. Finally, the effectiveness of the proposed method is validated by simulations and experiments on a Peltier cooling system.