Discrete‐time sliding mode output tracking control for a class of nonlinear perturbed systems

• Published in: International journal of robust and nonlinear control Vol. 30; no. 18; pp. 7909 - 7926
• Main Authors: Zapata‐Zuluaga, Cristian C., Loukianov, Alexander G.
• Format: Journal Article
• Language: English
• Published: Bognor Regis Wiley Subscription Services, Inc 01.12.2020
• Subjects: feedback linearization; Manifolds; Nonlinear control; nonlinear sampled‐data systems; Nonlinear systems; Perturbation; perturbed systems; Sliding mode control; Stability; Tracking control; Tracking problem
• ISSN: 1049-8923; 1099-1239
• DOI: 10.1002/rnc.5174

Summary The output tracking problem for a class of sampled‐data nonlinear systems exposed in nonlinear block controllable form is faced. This article considers both matched and unmatched perturbations. To formulate a desired sliding manifold on which the impact of unmatched perturbation is attenuated, the block control technique combined with the perturbation estimation, is implemented. A discrete‐time sliding mode nonswitching controller is synthesized such that the closed‐loop system state is driven toward a vicinity of the designed sliding manifold and stays there for all sampled time instants, avoiding chattering, and reducing the matched perturbation effect. The effectiveness of the proposed technique is confirmed by simulation.