Adaptive continuous control with sliding mode for plants under nonlinear perturbations, external disturbances and actuator failures

In this paper, we develop a combined adaptive-sliding mode control scheme with smooth control actions for a class of nonlinear dynamic systems with actuator failure which is robust with respect to actuator failures, to a nonlinear perturbation, and to an external disturbance with unknown bounds. An appropriate Lyapunov-Krasovskii type functional is introduced to design the adaptation algorithms, and to prove stability. The simulation results demonstrate the efficacy of the proposed adaptive-sliding mode techniques.