In this paper, an adaptive super twisting sliding mode controller (ASTSMC) is proposed for a class of nonlinear systems to counteract mismatched uncertainties. To estimate the unknown external disturbance efficiently, an adaptive terminal sliding mode disturbance observer (ATSMDO) is proposed. The stability of the over all closed loop system is proved by Lyapunov stability theory. To validate the proposed ATSMDO based ASTSMC, a case study of a nonlinear liquid level regulation problem is considered. Both simulation and real-time results are presented to show the effectiveness of the proposed controller than the traditional adaptive sliding mode controller (ASMC) and reported controllers in literature. From the analysis, it is observed that the proposed controller alleviates the chattering problem effectively.

针对一类非线性系统，提出了一种自适应超扭曲滑模控制器（ASTSMC），用以抵消不匹配的不确定性。为了有效地估计未知的外部干扰，提出了一种自适应终端滑模干扰观测器（ATSMDO）。Lyapunov稳定性理论证明了整个闭环系统的稳定性。为了验证所提出的基于ATSMDO的ASTSMC，考虑了一个非线性液位调节问题的案例研究。仿真和实时结果都表明，与传统的自适应滑模控制器（ASMC）和文献中报道的控制器相比，该控制器的有效性。从分析中可以看出，所提出的控制器有效地减轻了抖动问题。