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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

Authors

Ran Zhen

Jinyong Chen

Xueli Wu

Quanmin Zhu

Hassan Nouri Hassan.Nouri@uwe.ac.uk
Reader in Electrical Power and Energy

Xiaojing Wu

Jianhua Zhang



Contributors

Lei Liu
Editor

Quanmin Zhu
Editor

Lei Cheng
Editor

Yongji Wang
Editor

Dongya Zhao
Editor

Abstract

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
APA6 Citation Zhen, R., Chen, J., Wu, X., Zhu, Q., Nouri, H., Wu, X., & Zhang, J. (2014). Sliding mode control with self-turning law for uncertain nonlinear systems with time-delay and external disturbances. Lecture Notes in Control and Information Sciences, 452, 159-169. https://doi.org/10.1007/978-3-642-36385-6_8
DOI https://doi.org/10.1007/978-3-642-36385-6_8
Keywords sliding mode control, adaptive control, Lyapunov method, boundary layer
Publisher URL http://dx.doi.org/10.1007/978-3-642-36385-6_8
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