A Simplified Adaptive Control Scheme Based On A Combined Backstepping Second Order Sliding Mode Algorithm

The aim of this paper is to present a new combined adaptive/variable structure control approach for a class of nonlinear uncertain systems. In contrast to the classical backstepping procedure, it allows the presence of nonparametric uncertainties in the last two equations of the system. The advantages of the combined approach are mainly tied to the enhancement of robustness and the reduction of the computational load. The stability and convergence features of the original adaptive scheme are retained.