A Novel Reaching Law for Sliding Mode Control of Uncertain Discrete-Time Systems

Abstract

This paper proposed a new sliding mode control algorithm for discrete-time systems with matched uncertainty. The new control algorithm is characterized by a new discrete switching surface. Although the exponential reaching law can reduce oscillation, the control effectiveness will be suppressed when the rate of change of disturbance is high. The exponential reaching law cannot force the system states to approach sliding surface ( ) = 0. In order to solve the contradiction between guaranteeing the basic property of quasi-sliding mode and reducing oscillation, a new discrete reaching law is proposed to improve the reaching process of discrete exponent reaching laws. The proposed method not only can force system state to approach the sliding surface ( ) = 0 in less width of the switching manifold than existing studies, but also can alleviate chattering when the system representative points are near zero point. Simulation results are provided to validate the feasibility and reasonability of the method.

A discrete-time terminal sliding mode controller design for an autonomous underwater vehicle

“…For this reason, several study on intelligent control method such as fuzzy logic (FL) [12][13][14] [18,19]. Thus, it's difficult to implement in real time for AUV control system [20,21]. Sliding mode control (SMC) has shown robustness and efficient way to cope with system disturbances in comparison to other control approaches [20].…”

“…Thus, it's difficult to implement in real time for AUV control system [20,21]. Sliding mode control (SMC) has shown robustness and efficient way to cope with system disturbances in comparison to other control approaches [20]. The essence of sliding mode control is to force the system state to converge to sliding surface and remain on it for subsequent time.…”

Disturbance observer–based terminal sliding mode control for effective performance of a nonlinear vibration energy harvester

“…During recent years, various control techniques have been applied to maintain specific characteristics and behaviours in nonlinear systems (Nguyen et al, 2018). The sliding mode control (SMC), gained significant attention due to its desirable properties such as robustness against uncertainties, simplicity in implementation and guaranteed stability (Haque et al, 2019; Okubo et al, 2014; Shaw et al, 2011; Xu et al, 2018). In addition, in order to guaranty finite-time convergence of the system, terminal sliding mode control (TSMC) has been developed (Chen et al, 2013).…”