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Discrete-time sliding mode control for robust tracking and model following of systems with state and input delays

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Abstract

This paper presents a novel robust tracking and model following control scheme for a class of linear systems with mismatched state and input delays. The algorithm is based on discrete-time sliding mode control (SMC) and time-delay control theory. The proposed scheme ensures the stability and robustness against time delays without state transformation, and achieves the ultimate boundedness of the tracking error. The selection of sliding surface and the existence of sliding mode are two important issues, which have been addressed. Chattering phenomenon and reaching phase are avoided. Simulation results demonstrate the validity of the proposed scheme.

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Acknowledgments

The author would like to thank the National Science Council of the Republic of China for financial support through Grant No. NSC 100-2221-E-252 -006.

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  1. Department of Automation Engineering, Nan Kai University of Technology, Tsao-Tun , 54210, Nantou, Taiwan, ROC

    Ming-Chang Pai

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  1. Ming-Chang Pai
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Correspondence to Ming-Chang Pai.

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Pai, MC. Discrete-time sliding mode control for robust tracking and model following of systems with state and input delays. Nonlinear Dyn 76, 1769–1779 (2014). https://doi.org/10.1007/s11071-014-1245-0

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  • DOI: https://doi.org/10.1007/s11071-014-1245-0

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