A co-design method of online learning SMC law via an input-mapping strategy

Abstract

The research on sliding mode control strategy typically utilizes a robust approach, which may come at the cost of sacrificing some performance because large parameter space is considered. Recently, the data-driven sliding mode control method has attracted much attention and shows excellent benefits in the fact that data is introduced to compensate the controller. Nevertheless, most of the research on data-driven sliding mode control relied on identification techniques, which limits its online applications due to the special requirements of the data. In this paper, an input-mapping technique is inserted into the design framework of sliding mode control to compensate for the influence generated by the unknown dynamic of the system. The principal novelty of the proposed input-mapping sliding mode control strategy lies in that the sliding mode surface and the sliding mode controller are co-designed through online learning from historical input–output data to minimize an objective function. Then, the convergence rate of the system is improved significantly based on the method designed in this work. Finally, some simulations are provided to show the effectiveness and superiority of the proposed methods.