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Sliding mode control with self-turning law for uncertain nonlinear systems with time-delay and external disturbances

Zhen, Ran; Chen, Jinyong; Wu, Xueli; Zhu, Quanmin; Nouri, Hassan; Wu, Xiaojing; Zhang, Jianhua


Ran Zhen

Jinyong Chen

Xueli Wu

Quanmin Zhu

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Hassan Nouri
Reader in Electrical Power and Energy

Xiaojing Wu

Jianhua Zhang


Lei Liu

Quanmin Zhu

Lei Cheng

Yongji Wang

Dongya Zhao


This study proposes a novel sliding mode control with self-turning law for nonlinear systems with time-delay and external disturbances possessing uncertain parameters. The adjustable control gain and a bipolar sigmoid function are online tuned to force the tracking error to approach zero. The proposed control scheme provides good transient and steady-state performance. Moreover as the proposed controller, the chatting phenomenon can be avoided and the problem of time-delay and external disturbances are solved for a class of nonlinear systems. The closed-loop control system stability is proved to use the Lyapunov method. Steady-state system performance and chattering are considerably improved. Numerical simulation results are given to illustrate the effectiveness of the proposed procedure. © Springer-Verlag Berlin Heidelberg 2014.

Journal Article Type Article
Publication Date Jan 1, 2014
Journal Lecture Notes in Control and Information Sciences
Print ISSN 0170-8643
Publisher Springer Verlag
Peer Reviewed Peer Reviewed
Volume 452
Pages 159-169
Book Title Applied Methods and Techniques for Mechatronic Systems
ISBN 9783642363849
Keywords sliding mode control, adaptive control, Lyapunov method, boundary layer
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