A Discrete Neuro Sliding Mode Control with Adaptive Switching Gain for Uncertain Nonlinear Systems

Abstract

The main disadvantages of the discrete sliding mode control are the chattering phenomenon and the sensitivity against high parameter variations. In order to overcome these problems, we propose a new discrete neuro sliding mode control with adaptive switching gain for uncertain nonlinear systems. This strategy guarantees the stability of the system despite its uncertainties and achieves zero tracking error thanks to the neuron online estimation of the errors in the sliding function. Although, it reduces chattering phenomenon due to the adaptation of the switching gain. The obtained results of the proposed controller illustrate a considerable improvement of the performances of uncertain nonlinear systems.