ABSTRACT Robust Integral of the Sign of the Error (RISE) control is a class of continuous robust controllers that addresses the limitations of discontinuous sliding mode (SM) controllers all while utilizing its robustness to deal with uncertain terms that are bounded by constants. However, RISE controllers require the dynamic model and the control input to be continuously differentiable. As a result, the use of the RISE control approach is not possible for nonsmooth or switched systems. Motivated by the robustness of RISE controllers, an auxiliary RISE (ARISE) control architecture is developed to extend the benefits of RISE control to discontinuous/switched systems. To enhance the applicability of the ARISE control approach, a saturated hyperbolic tangent function is incorporated into the control input to account for the limitations of physical actuators during real‐world applications. A nonsmooth Lyapunov‐like stability analysis is performed for the proposed saturated ARISE control system to prove that the closed‐loop error system is uniformly ultimately bounded for a switched dynamic model. A series of numerical simulations were performed to compare the performance of the saturated ARISE controller with standard saturated SM and integral SM controllers.
Basyal et al. (Sun,) studied this question.