Adaptive twist sliding mode control: A Lyapunov design

A novel adaptive-gain twist sliding mode controller is proposed. The disturbance term is assumed to be bounded with unknown bounds. The proposed Lyapunov-based approach consists in using dynamically adaptive control gains that ensure the establishment, in finite time, of a real second order sliding mode. Also the adaptation algorithm doesn´t overestimate the values of the control gain. A numerical example confirms the efficacy of the proposed adaptive-gain twisting control.