Research on the Application of Adaptive Second Order Sliding Mode Control Based on Lyapunov Method

Abstract

For nonlinear systems with uncertainty, traditional second-order sliding mode control often overestimates control gain and increases chattering. This paper applies a Lyapunov method for adaptive second-order sliding mode control, requiring only bounded uncertainty without assuming bounded derivatives. By designing a dynamic gain adjustment mechanism, control gain adaptively changes with uncertainty. Finite-time stability is proven with the system state converging to the true sliding mode domain.