SummaryFractional sliding mode schemes possess the ability of compensating a large sort of continuous but not necessarily integerorder differentiable disturbances; however, the adjustment of the control parameters is usually difficult and is based on a heuristic process. Motivated by the approximation capabilities of fractional sliding modes, this article proposes a parallel controller, which results as a linear combination of fractionalorder integral functions. The weight of each action of control is computed online by means of an adaptation algorithm. The stability of the closedloop system is demonstrated in the Lyapunov framework and a simulation study is presented to highlight the reliability of the proposed controller.
