Switched Second Order Sliding Mode Control with Partial Information

This paper proposes a novel switched second order sliding mode (S-SOSM) control strategy in a partial information setting, i.e., when only the sliding variable is accessible for measurements. The S-SOSM setting can deal with systems characterised by different levels of uncertainties associated with different regions of the state space and to accommodate different control objectives in the different regions by switching among appropriate SOSM controllers. The proposed approach stems from an ad hoc extension of a SOSM control algorithm which was introduced to cope with state-dependent uncertainties, and it is shown to ensure global finite-time convergence to the origin of the closed-loop system trajectory.