Improved adaptive sliding mode control for a class of second-order mechanical systems

This paper considers the tracking control problem for a class of second-order mechanical systems with bounded uncertain parameters. A solution to the over-adaptation problem in current adaptive sliding mode control (ASMC) is presented by introducing a decay function in the sliding function definition. The switching gain generated by the proposed ASMC algorithm is significantly reduced as compared with current ASMC design. Simulation results verify the effectiveness of the proposed approach.