Model reference adaptive approach to sliding mode control

In this paper, model reference adaptive control (MRAC) and sliding mode control (SMC) are combined to obtain the proposed adaptive sliding mode control (ASMC) algorithm which is a new approach to the control of single input nonlinear systems with imprecise models. The contribution of this method is that the constant parameters of the sliding surface are replaced by time-varying parameters whose values are calculated by an adaptation algorithm, which forces the tracking errors to follow the behavior of a reference error model. Simulation results show that the proposed method not only improves the performance of the system but also reduces the chattering problem. Consequently it is expected that the new ASMC algorithm will be suitable for various practical applications.