Neural-based adaptive integral sliding mode tracking control for nonlinear interconnected systems

Abstract

It is proposed here to use a robust tracking design neural-based adaptive integral sliding mode control technique to control nonlinear interconnected systems with unknown coupled uncertainty in which each uncertainty is assumed to be bounded by an unknown gain. A neural network for nonlinear interconnected systems is then proposed for solving the uncertainties of nonlinear interconnected systems. On-line estimation schemes are developed to overcome the uncertainties and identify the gains of the unknown coupled uncertainty, simultaneously. By the concept of parallel distributed compensation (PDC), we combine adaptive neural scheme the integral sliding mode control scheme to resolve the system uncertainties, unknown coupled uncertainties, and the external disturbances such that H ∞ tracking performance is achieved. Simulation results are further presented to show the effectiveness and performance of the proposed control scheme.