Adaptive Fourier compensator design for a sliding decoupling control system

In the paper, an adaptive Fourier compensator is proposed to compensate the sliding decoupling control law for a class of uncertain coupling systems. Generally, on the hierarchical sliding mode, the sliding decoupling control law, which consists of an equivalent control law and a hitting control law, can be derived to stabilize the coupling system. When the system functions are subject to uncertainties, the control gain of the hitting control law can be adjusted to be a larger value to ensure the system stability. However, the control performance can not be guaranteed by the simple manner. So, in order to improve the control performance in this situation, an adaptive Fourier compensator is proposed to further compensate the sliding decoupling control law; the obtained control performance can be similar to that of the ideal sliding decoupling control law. The simulation results clearly demonstrate the effectiveness of the proposed adaptive Fourier compensator.