An adaptive sliding-mode controller for discrete nonlinear systems

• Published in: IEEE transactions on industrial electronics (1982) Vol. 47; no. 3; pp. 574 - 581
• Main Authors: Munoz, D., Sbarbaro, D.
• Format: Journal Article
• Language: English
• Published: New York IEEE 01-06-2000; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Adaptive algorithms; Adaptive control; Adaptive control systems; Algorithms; Artificial neural networks; Computer simulation; Control systems; Dynamical systems; Electric variables control; Linear systems; Nonlinear control systems; Nonlinear systems; On-line systems; Programmable control; Sliding mode control; Switching; Uncertainty
• ISSN: 0278-0046; 1557-9948
• DOI: 10.1109/41.847898

This paper presents a sliding-mode controller for a class of nonlinear discrete-time systems. The proposed controller uses a modified switching function that produces a low-chattering control signal. In order to improve the controller performance, an adaptive term is added to the original sliding-mode algorithm. This new feature uses an artificial neural network for online identification of the modeling error. Simulations and experimental results illustrate the main characteristics and performance of this approach,.