Robust Integral Sliding Mode Control of Uncertain Networked Control Systems with Multiple Data Packet Losses

Abstract

In this paper, a robust integral sliding mode control problem for networked control systems with multiple data packet losses is investigated. The data packet losses occur in both sensor-to-controller and controller-to-actuator channels in a random way and they are modelled by independent Bernoulli binary distributed white sequences. The considered class of system is also subject to matched uncertainties and external disturbances presence. A specific sliding mode surface which take into consideration the stochastic nature of the system is proposed to generate a stable sliding mode dynamics for closed loop system. An integral sliding mode controller is designed to ensure the reachability of the specified sliding mode domain. Finally, simulation results, carried out on a linearized model of cart pendulum system, illustrate the effectiveness of the proposed approach.