| Abstract: | In this paper, a tracking control algorithm based on sliding mode prediction for a class of discrete‐time uncertain systems is presented. By creating a special model to predict the future sliding mode function value and by combining feedback correction and receding horizon optimization approaches, which are extensively applied in predictive control strategy, a discrete‐time sliding mode control law for tracking problem is constructed. With the designed control law, closed‐loop systems have strong robustness to matched or unmatched uncertainties as they eliminate chattering. Besides, in the robustness analysis, the boundary condition for uncertainties, which is a universal presupposition in sliding mode control method, is not required. Numerical simulation and cart‐pendulum experiment results illustrate the validity of the proposed algorithm. |
