A class of adaptive sliding mode controller with proportional-integral sliding surface

This paper presents an adaptive sliding mode tracking controller with a proportional and integral switching surface. A novel adaptive sliding mode controller based on model reference adaptive state feedback control is proposed to deal with the tracking problem for a class of dynamic systems. First, a proportional and integral sliding surface instead of a conventional sliding surface is chosen and then a class of adaptive sliding mode controller with integral sliding term is developed. It is shown that the stability of the closed-loop system can be guaranteed with the proposed adaptive sliding mode control strategy. The numerical simulation of a triaxial gyroscope is investigated to show the effectiveness of the proposed adaptive sliding mode control scheme with proportional plus integral sliding mode action.