关键词: 非线性系统, 自适应控制, 积分滑模, 不确定系统

Abstract: A new adaptive integral sliding mode controller is proposed for a class of nonlinear systems with uncertainties.The control law is composed of two parts：a controller for the reduced model of the plant and a compensator.Consequently，the design is also divided into two steps.Firstly，a globally asymptotically stable controller is developed based on a reduced model of the plant.Then，an integral sliding mode surface is constructed in order to treat those parts relating to the uncertain parameters，and an adaptive integral sliding mode compensator is developed to ensure the reachability of the sliding mode surface and the stability of the original system.The design is simple and the control law is very concise，so it is suit for practical implementation.The result of simulation verifies the efficiency of the suggested design.

Key words: nonlinear systems, adaptive control, integral sliding mode, uncertain systems