Overcoming the underestimation and overestimation problems in adaptive sliding mode control

Spandan Roy, Sayan Basu Roy, Jinoh Lee, Simone Baldi

Research output: Contribution to journalArticleScientificpeer-review

25 Citations (Scopus)
29 Downloads (Pure)


Underestimation and overestimation problems are commonly observed in conventional adaptive sliding mode control (ASMC). These problems refer to the fact that the adaptive controller gain unnecessarily increases when the states are approaching the sliding surface (overestimation) or improperly decreases when the states are getting far from it (underestimation). In this paper, we propose a novel ASMC strategy that overcomes such issues. In contrast to the state of the art, the proposed strategy is effective even when an a priori constant bound on the uncertainty cannot be imposed. Comparative results using a two-link manipulator demonstrate improved performance as compared to the conventional ASMC. Experimental results on a biped robot confirm the effectiveness and robustness of the proposed method under various practical uncertainties.

Original languageEnglish
Pages (from-to)2031-2039
JournalIEEE/ASME Transactions on Mechatronics
Issue number5
Publication statusPublished - 2019


  • Adaptive sliding mode control (ASMC)
  • switching gain
  • underestimation and overestimation

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