High-order adaptive sliding mode control of mechanical systems

With sliding mode control, it is possible to design controllers for
highly nonlinear systems, that are robust against parameter
uncertainties and modeling errors. The control scheme requires fast
switching of the control variable between maximal and minimal possible
control signals and thus leads to fatigue of the actuators and to
chattering and undesired oscillations.

Also higher-order sliding mode controllers use switched controls. But
in this case, higher derivatives of the control variable are switched,
which results in continuous signals for the control variable itself.

This thesis investigates how to design adaptive higher-order sliding
mode controllers for mechanical systems.

Contact: M. Leibold

Supervisors: M. Leibold, Prof. V. Utkin