Adaptive sliding mode control with moving surface: Experimental validation for electropneumatic system

In this work, an Adaptive Sliding Mode Control (ASMC) is proposed for a class of nonlinear MIMO system with external disturbances. Although the Sliding Mode Control (SMC) is known for its precision and robustness against disturbance and uncertainties, it suffers from a chattering phenomenon and the choice of sliding surface parameters. To solve such problems, the SMC discontinuous term was replaced by a proportional derivative term and a moving sliding surface was used. The adaptive parameters were obtained by Lyapunov stability analysis to guarantee the stability of the closed loop system. In order to illustrate the efficiency of the proposed controller, experimental results on electropneumatic system were presented and compared to a classic sliding mode controller.