Adaptive quasi-sliding mode control for discrete nonlinear system with uncertain model

摘要

The problem of adaptive quasi-sliding mode control for a class of discrete nonlinear systems with uncertain model is studied in this paper. Based on the principle of sliding mode control and the approximation capability of neural networks, an adaptive-NN-based model is built, and a synthetical design scheme of adaptive quasi-sliding mode controller is proposed. In order to achieve robust performance against system's parameter variations and external disturbances, or reduce tracking errors, an adaptive control law is given. Both the NN rights and the controller parameters are regulated adaptively online. The simulation results show that the closed-loop adaptive quasi-sliding mode control system is stable, with tracking errors converging to a neighborhood of zero.