Discrete-time sliding mode control for uncertain systems with state and input delays |
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Authors: | Ming-Chang Pai |
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Affiliation: | 1. Department of Automation Engineering , Nan Kai University of Technology , Tsao Tun 54243, Nan Tou County, Taiwan, ROC pmc@nkut.edu.tw |
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Abstract: | This article presents a discrete-time sliding mode control method for the robust stabilisation of linear uncertain multi-input discrete-time systems with state and input delays. The systems are assumed to have structured mismatched time-varying parameter uncertainties. A specified switching surface is proposed and a sliding mode controller is derived to ensure the existence of the quasi-sliding mode. Based on the improved Lyapunov function and linear matrix inequality technique, delay-independent sufficient conditions for the design of a stable switching surface are given and the stability of the overall closed-loop system is guaranteed. Neither chattering phenomenon will occur nor the knowledge of upper bound of uncertainties is required. Finally, simulation results demonstrate the efficacy of the proposed control methodology. |
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Keywords: | discrete-time sliding mode control state and input delays mismatched time-varying uncertainties LMI chattering phenomenon |
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