Adaptive non-homogeneous higher order sliding mode control without switching gain overestimation

Adaptive non-homogeneous higher order sliding mode control (HOSMC) scheme without switching gain over-estimation is proposed. Given a large initial tracking error, the proposed HOSMC algorithm provide fast convergence rate by using non-homogeneous finite time stabilization. In addition, the adaptive control method is employed to identify bounded uncertainties. To solve the overestimation problem, the equivalent control technique is used, and the switching gain can be designed as a small constant. Numerical simulation demonstrates the effectiveness of the proposed HOSMC algorithm.