Robust sliding mode control for uncertain networked control system with two-channel packet dropouts

Abstract

A robust sliding mode control algorithm is developed for a class of networked control system with packet dropouts in both sensor-controller channel and controller-actuator channel, and at the same time mismatched parametric uncertainty and external disturbance are also taken into consideration. A two-level Bernoulli process has been used to describe the packet dropouts existing in both channels. A novel integral sliding surface is proposed, based on which the H∞ performance of system sliding mode motion is analyzed. Then the sufficient condition for system stability and robustness is derived in the form of linear matrix inequality (LMI). A sliding mode controller is designed which can guarantee a relatively ideal system dynamic performance and has certain robustness against unknown parameter perturbations and external disturbances. The results from numerical simulations are presented to corroborate the validity of the proposed controller.