On adaptive sliding mode control without a priori bounded uncertainty

Spandan Roy, Simone Baldi, Leonid M. Fridman

Research output: Contribution to journalArticleScientificpeer-review

24 Citations (Scopus)


Adaptive Sliding Mode Control (ASMC) aims to adapt the switching gain in such a way to cope with possibly unknown uncertainty. In state-of-the-art ASMC methods, a priori boundedness of the uncertainty is crucial to ensure boundedness for the switching gain and uniformly ultimately boundedness. A priori bounded uncertainty might impose a priori bounds on the system state before obtaining closed-loop stability. A design removing this assumption is still missing in literature. A positive answer to this quest is given by this note where a novel ASMC methodology is proposed which does not require a priori bounded uncertainty. An illustrative example is presented to highlight the main features of the approach, after which a general class of Euler–Lagrange systems is taken as a case study to show the applicability of the proposed design.

Original languageEnglish
Article number108650
Number of pages6
Publication statusPublished - 2020


  • Adaptive sliding mode
  • Euler–Lagrange systems
  • Switching gain
  • Uncertainty


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