Robust sliding mode learning control for uncertain discrete‐time multi‐input multi‐output systems

Tuan, Do Manh; Man, Zhihong; Zhang, Cishen; Jin, Jiong; Wang, Hai

doi:10.1049/iet-cta.2013.0604

Cited by 12 publications

References 27 publications

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Sliding mode learning control of non‐minimum phase nonlinear systems

Man

Jin

et al. 2015

Intl J Robust & Nonlinear

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SUMMARYIn this paper, a novel robust sliding mode learning control scheme is developed for a class of non-minimum phase nonlinear systems with uncertain dynamics. It is shown that the proposed sliding mode learning controller, designed based on the most recent information of the stability status of the closed-loop system, is capable of adjusting the control signal to drive the sliding variable to reach the sliding surface in finite time and remain on it thereafter. The closed-loop dynamics including both observable and non-observable ones are then guaranteed to asymptotically converge to zero in the sliding mode. The developed learning control method possesses many appealing features including chattering-free characteristic, strong robustness with respect to uncertainties. More importantly, the prior information of the bounds of uncertainties is no longer required in designing the controller. Numerical examples are presented in comparison with the conventional sliding mode control and backstepping control approaches to illustrate the effectiveness of the proposed control methodology.

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