Abstract
A novel tracking control algorithm based on sliding mode prediction is proposed for a class of discrete-time nonlinear uncertain systems in this paper. By constructing a sliding mode prediction model at first, the future, present and history information of the system can be used to improve the performance of sliding mode control. Because of sliding mode reference trajectory, the reachability of sliding mode is achieved, and the reaching mode can be determined by designers in advance. Due to feedback correction and receding horizon optimization, the influence of uncertainty can be compensated in time and control law is obtained subsequently. Theoretical analysis proves the closed-loop system possesses robustness to matched or unmatched uncertainty, without requiring the known bound of uncertainty. Simulation results illustrate the validity of the presented algorithm.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Utkin, V.: Variable structure systems with sliding modes. IEEE Trans. Automat. Contr. 22, 212–222 (1977)
Gao, W.B., Wang, Y., Homaifa, A.: Discrete-time variable structure control system. IEEE Trans. Ind. Electron. 42, 117–122 (1995)
Sun, M., Wang, Y., Wang, D.: Variable-structure repetitive control: A discrete-time strategy. IEEE Trans. Ind. Electron. 52, 610–616 (2005)
Chen, X.: Adaptive sliding mode control for discrete-time multi-input multi-output systems. Automatica 42, 427–435 (2006)
Munoz, D., Sbarbaro, D.: An adaptive sliding-mode controller for discrete nonlinear systems. IEEE Trans. Ind. Electron. 47, 574–581 (2000)
Liao, T.-L., Chien, T.-I.: Variable structure controller design for output tracking of a class of discrete-time nonlinear systems. JSME International Journal Series C 45, 462–469 (2002)
Zheng, Y., Dimirovski, G.M., Jing, Y., Yang, M.: Discrete-time sliding mode control of nonlinear systems. In: Proceedings of the 2007 American Control Conference, New York, USA, July 11-13, pp. 3825–3830 (2007)
Janardhanan, S., Bandyopadhyay, B.: On discretization of continuous-time terminal sliding mode. IEEE Trans. Automat. Contr. 51, 1532–1536 (2006)
Xi, Y.G.: Predictive control, 1st edn., pp. 18–90. National Defence Industry Press, Beijing (1993)
Slotine, J.J., Sastry, S.S.: Tracking control of nonlinear systems using sliding surfaces with application to robot manipulator. Int. J. Contr. 38, 465–492 (1983)
Bartoszewicz, A.: Discrete-time quasi-sliding-mode control strategies. IEEE Trans. Ind. Electron. 45, 633–637 (1998)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2011 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Xiao, L., Zhu, Y. (2011). Sliding Mode Prediction Based Tracking Control for Discrete-time Nonlinear Systems. In: Liu, D., Zhang, H., Polycarpou, M., Alippi, C., He, H. (eds) Advances in Neural Networks – ISNN 2011. ISNN 2011. Lecture Notes in Computer Science, vol 6677. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-21111-9_10
Download citation
DOI: https://doi.org/10.1007/978-3-642-21111-9_10
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-21110-2
Online ISBN: 978-3-642-21111-9
eBook Packages: Computer ScienceComputer Science (R0)