Certainty equivalence adaptation combined with super-twisting sliding-mode control

Alexander Barth, Markus Reichhartinger, Kai Wulff, Martin Horn, Johann Reger*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review


In this paper, a Lyapunov-based control concept is presented that combines variable structure and adaptive control. The considered system class consists of nonlinear single input systems which are affected by matched structured and unstructured uncertainties. Resorting to the certainty equivalence principle, the controller exploits advantages of both the sliding-mode and the adaptive control methodology. It is demonstrated that the gains of the discontinuous control action may be reduced remarkably when compared with pure sliding-mode-based approaches. The efficiency of the presented concept is demonstrated in detail, using results of numerical simulations.
Original languageEnglish
Pages (from-to)1767-1776
JournalInternational Journal of Control
Issue number9
Publication statusPublished - 2016

Fields of Expertise

  • Information, Communication & Computing


Dive into the research topics of 'Certainty equivalence adaptation combined with super-twisting sliding-mode control'. Together they form a unique fingerprint.

Cite this