Adaptive Control of Nonlinear Systems
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Abstract
Abstract
This paper develops a disturbance observer-based adaptive sliding mode control strategy for a class of nonlinear time-delay systems subject to exogenous disturbances and delayed nonlinear uncertainties. A fixed-time nonlinear disturbance observer is designed using dual-power feedback terms to achieve precise estimation of external disturbances. Barrier functions are employed to design an adaptive controller that dynamically adjusts gains for time-delay uncertainty compensation, removing the initial condition dependence of common approaches. The Lyapunov-Razumikhin method is employed to handle large time-varying delays, and the fixed-time convergence of the sliding surface is established through Lyapunov stability theory. The effectiveness of the proposed method is validated through its application to a continuous stirred-tank reactor system and a numerical simulation.
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@article{Chen2026Disturbance,
title = {Disturbance observer-based adaptive fixed-time sliding mode control for nonlinear time-delay systems},
author = {Yunjun Chen and Zhengzhuang Yao and Jiuzhi Dong and Rui Li},
journal = {Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering},
year = {2026},
doi = {10.1177/09596518261455936},
url = {https://doi.org/10.1177/09596518261455936}
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