Saturated adaptive barrier sliding mode control with state‐dependent uncertainty limit

This paper proposed a saturated adaptive barrier sliding mode control (SABSMC) for disturbed systems with parameter uncertainty, external disturbance, and input saturation. One distinctive feature of the method is that even under influence saturation, it able to drive system trajectory into prespecified neighbourhood surface, independent upper limit lumped disturbance. Moreover, attributing designed laws, switching gain can be adaptively adjusted in wise manner. Another attractive removes any presumption constant on Instead, SABSMC utilises more rational state-dependent assumption. The dynamics closed-loop analysed via Lyapunov presence effectiveness confirmed through numerical simulations.