Higher order sliding mode control with self-tuning law based on integral sliding mode

A higher order sliding mode control (SMC) with self-tuning law algorithm for uncertain non-linear systems is proposed. The method can be viewed as the finite time stabilisation based on geometric homogeneity and integral SMC. In order to reduce chattering and solve system uncertainties with unknown bound, a bipolar sigmoid function on-line adaptation and an adjustable control gain tuning approach without high-frequency switching are developed. Control system stability is ensured using the Lyapunov method. An example is given to show the effectiveness of the developed approach.