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

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
• DOI: https://doi.org/10.1007/978-3-642-36385-6_8
• Keywords: sliding mode control, adaptive control, Lyapunov method, boundary layer
• Public URL: https://uwe-repository.worktribe.com/output/822227
• Publisher URL: http://dx.doi.org/10.1007/978-3-642-36385-6_8