Sliding Mode Control of Uncertain Discrete-Time Nonlinear Systems Based on Disturbance Observer

2020 ◽  
Author(s):  
Shuyi Shao ◽  
Mou Chen ◽  
Xiaohui Yan ◽  
Qijun Zhao
Keyword(s):  
Nonlinear Systems ◽  
Sliding Mode Control ◽  
Discrete Time ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Mode Control

Design of adaptive fuzzy backstepping sliding mode control for MIMO uncertain discrete-time nonlinear systems based on noisy measurements

2016 ◽  
Vol 24 (2) ◽  
pp. 393-406 ◽  
Author(s):  
Toshio Yoshimura
Keyword(s):  
Nonlinear Systems ◽  
Sliding Mode Control ◽  
Discrete Time ◽  
Sliding Mode ◽  
Weighted Least Squares ◽  
Tracking Error ◽  
Design Parameters ◽  
Adaptive Fuzzy ◽  
Mode Control ◽  
Backstepping Sliding Mode Control

This paper presents an adaptive fuzzy backstepping sliding mode control for multi-input and multi-output uncertain nonlinear systems in semi-strict feedback form. The systems are described by a discrete-time state equation with uncertainties viewed as the modeling errors and the unknown external disturbances, and the observation of the states is taken with independent measurement noises. Combining the adaptive fuzzy backstepping control with the sliding mode control approach for the comprehensive improvement in the stability and the robustness, the adaptive fuzzy backstepping sliding mode control is approximately designed where the design parameters are selected using an appropriate Lyapunov function. The uncertainities are approximated as fuzzy logic systems using the fuzzy inference approach based on the extended single input rule modules to reduce the number of the fuzzy IF-THEN rules. The estimates for the un-measurable states and the adjustable parameters are taken by the proposed simplified weighted least squares estimator. It is proved that the trajectory of the tracking error and the sliding surface is uniformly ultimately bounded. The effectiveness of the proposed approach is indicated through the simulation experiment of a simple numerical system.

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