Skip to main content
SpringerLink
Log in

A Discrete Terminal Neuro-Sliding Mode Control with Adaptive Switching Gain for an Uncertain Nonlinear System

  • Research Paper
  • Published:
Iranian Journal of Science and Technology, Transactions of Electrical Engineering Aims and scope Submit manuscript

Abstract

The main challenge of sliding mode control is how to reduce chattering phenomenon. In this work, a discrete terminal neuro-sliding mode control with adaptive switching gain for a nonlinear system is presented. This new strategy blends the benefits of terminal sliding mode control and neuronal network. It guarantees a finite-time convergence of the sliding variable and the error dynamics so as to harmoniously alleviates the system steady-state error. The simulation results tested on an inverted pendulum and a continuous stirred tank reactor with high parameter variations and disturbances are presented in relation to the greater performance and effectiveness of the proposed technique.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9
Fig. 10
Fig. 11
Fig. 12
Fig. 13
Fig. 14

Similar content being viewed by others

References

  • Behnamgol V, Vali AR (2015) Terminal sliding mode control for nonlinear systems with both matched and unmatched uncertainties. Iran J Electri Electron Eng 11(2):109–117

    Google Scholar 

  • Ben Mohamed R, Ben Nasr H, and M’Sahli F (2011) A multimodel approach for a nonlinear system based on neural network validity. Int J Intell Comput Cybern

  • Ben Mohamed R, Romdhane H, Dehri K, Nouri AS (2017) Discrete neuro-sliding mode control for uncertain nonlinear systems. In: 5th International conference on control engineering & information technology (CEIT-2017)

  • Ben Mohamed R, Romdhane H, Dehri K, Nouri AS (2018) A discrete neuro-sliding mode control with adaptive switching gain for uncertain nonlinear systems. In: 2018 15th international multi-conference on systems, signals & devices (SSD)

  • Ben Mohamed R, Romdhane H, Dehri K, Nouri AS (2019) A discrete adaptive second order neuro-sliding mode control for uncertain nonlinear system. In: 2019 19th international conference on sciences and techniques of automatic control and computer engineering (STA)

  • Benyazid Y, Nouri AS (2021) Guaranteed cost sliding mode control for discrete uncertain ts fuzzy systems with time delays. In: 2021 18th International Multi-Conference on Systems, Signals & Devices (SSD) , IEEE, pp. 1127–1135

  • Bsili I, Ghabi J, Messaoud H (2015) Discrete sliding mode control of inverted pendulum. In: 2015 world symposium on mechatronics engineering & applied physics (WSMEAP) , IEEE, pp. 1–6

  • Doudou S, Khaber F (2019) Adaptive fuzzy sliding mode control for a class of uncertain nonaffine nonlinear strict-feedback systems. Iran J Sci Technol Trans Electr Eng 43(1):33–45

    Article  Google Scholar 

  • Elhajji Z, Dehri K, Nouri AS (2017) Discrete-time terminal sliding mode controller based on input-output model. In: 2017 6th international conference on systems and control (ICSC)

  • Elhajji Z, Dehri K, Nouri AS (2017) Stability analysis of discrete integral sliding mode control for input-output model. J Dyn Syst Measur Control 139:3

    Google Scholar 

  • Karami-Mollaee A, Shanechi H (2018) Dynamic sliding mode control of nonlinear systems using neural networks. AUT J Model Simul 50(1):51–60

    Google Scholar 

  • Khadija D, Majda L, Said NA (2012) Discrete second order sliding mode control for nonlinear multivariable systems. In: 2012 16th IEEE mediterranean electrotechnical conference , IEEE, pp. 387–390

  • Li G (2021) Adaptive sliding mode control for a class of manipulator systems with output constraint. Complexity

  • Lopez P, Nouri AS (2006) Théorie élémentaire et pratique de la commande par les régimes glissants, 55. Springer

  • Luo AC (2015) Discretization of continuous systems. In: Discretization and Implicit Mapping Dynamics. Springer, pp. 51–158

  • Ma L, Zhao D, Zhang S, Feng J, Cao L (2020) Discrete-time sliding mode control for a class of nonlinear process. IMA J Math Control Inform 37(2):513–534

    Article  MathSciNet  Google Scholar 

  • Monsees G, Scherpen J (2002) Adaptive switching gain for a discrete-time sliding mode controller. Int J Control 75(4):242–251

    Article  MathSciNet  Google Scholar 

  • Montacer N, Atia SB, Dehri K, Ben Abdennour R (2021) Sliding mode multiobserver for time-varying delay nonlinear systems based on discrete uncoupled multimodel. Circuit Syst Signal Process 40(2):626–647

    Article  Google Scholar 

  • Naserian M, Ramazani A, Khaki-Sedigh A, Moarefianpour A (2020) Fast terminal sliding mode control for a nonlinear multi-agent robot system with disturbance. Syst Sci Control Eng 8(1):328–338

    Article  Google Scholar 

  • Pan H, Zhang G (2021) Novel nonsingular fast terminal sliding mode control for a class of second-order uncertain nonlinear systems. Math Probl Eng

  • Pishkari F, Binazadeh T (2018) Suboptimal variable structure control of uncertain nonlinear slowly varying systems. Syst Sci Control Eng 6(1):421–429

    Article  Google Scholar 

  • Shahriari B, Majd V, Shahrebabaki HM (2019) Robust control of uncertain nonlinear switched systems: a dissipativity-based integral sliding mode control redesign approach. Iran J Sci Technol Trans Electr Eng 43(1):325–337

    Article  Google Scholar 

  • Sun H, Yin W (2019)Adaptive fuzzy variable structure control for permanent magnet linear servo system. In: IOP conference series: materials science and engineering , 677, IOP Publishing, p. 052026

  • Wang H, Man Z, Kong H, Zhao Y, Yu M, Cao Z, Zheng J, Do MT (2016) Design and implementation of adaptive terminal sliding-mode control on a steer-by-wire equipped road vehicle. IEEE Trans Ind Electr 63(9):5774–5785

    Article  Google Scholar 

  • Yinling J, BeiYan J (2014) Multi-model neural network sliding mode control for robotic manipulators. In: 2014 International Conference on Mechatronics and Control (ICMC) , IEEE, pp. 2431–2435

  • Zhang L, Yang J (2020) Continuous nonsingular terminal sliding mode control for nonlinear systems subject to mismatched terms. Asian J Control

  • Znidi A, Dehri K, Nouri AS (2014) Adaptive sliding mode control for discrete uncertain systems using matrix rls algorithm. In: 2014 15th international conference on sciences and techniques of automatic control and computer engineering (STA) , IEEE, pp. 953–957

Download references

Acknowledgements

This study was supported by the research Laboratory: Numerical Control of Industrial Processes (CONPRI) of Ministry of the Higher Education and Scientific Research in Tunisia

Author information

Authors and Affiliations

  1. National Engineering School of Gabes, Omar Ibn Khattab street, 6029, Gabes, Tunisia

    Raja Ben Mohamed, Khadija Dehri, Zina Elhajji & Ahmed Said Nouri

  2. University of Gabes, Street of Medenine, 6029, Gabes, Tunisia

    Raja Ben Mohamed, Khadija Dehri, Zina Elhajji & Ahmed Said Nouri

Authors
  1. Raja Ben Mohamed
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Khadija Dehri
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Zina Elhajji
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Ahmed Said Nouri
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Raja Ben Mohamed.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Ben Mohamed, R., Dehri, K., Elhajji, Z. et al. A Discrete Terminal Neuro-Sliding Mode Control with Adaptive Switching Gain for an Uncertain Nonlinear System. Iran J Sci Technol Trans Electr Eng 46, 157–170 (2022). https://doi.org/10.1007/s40998-021-00454-5

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s40998-021-00454-5

Keywords

Search

Navigation