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The Scientific World Journal
Volume 2013, Article ID 726963, 9 pages
Research Article

Tensor Product Model Transformation Based Adaptive Integral-Sliding Mode Controller: Equivalent Control Method

1Faculty of Electronic Information and Electronic Engineering, Dalian University of Technology, Dalian 116024, China
2Modern Manufacture Engineering Center, Heilongjiang University of Science and Technology, Harbin 150022, China

Received 21 August 2013; Accepted 21 September 2013

Academic Editors: C. Bao, S. Kou, A. Szekrenyes, and M. Yao

Copyright © 2013 Guoliang Zhao et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper proposes new methodologies for the design of adaptive integral-sliding mode control. A tensor product model transformation based adaptive integral-sliding mode control law with respect to uncertainties and perturbations is studied, while upper bounds on the perturbations and uncertainties are assumed to be unknown. The advantage of proposed controllers consists in having a dynamical adaptive control gain to establish a sliding mode right at the beginning of the process. Gain dynamics ensure a reasonable adaptive gain with respect to the uncertainties. Finally, efficacy of the proposed controller is verified by simulations on an uncertain nonlinear system model.