Sliding Mode Control of Uncertain Discrete-Time Nonlinear Systems Based on Disturbance Observer

Abstract

This paper designs a discrete-time sliding mode (DTSM) controller for a class of uncertain discrete-time nonlinear systems (DTNSs) subject to bounded time-varying disturbances. By making use of the neural network (NN), the problem of system uncertainties is tackled. The time-varying disturbances are processed based on a designed NN-based discrete-time disturbance observer (DTDO). By taking advantage of the NN and DTDO, a DTSM control approach is developed, and all signals are proven to be bounded for the entire closed-loop system under the designed DTSM controller. Finally, a cart-inverted pendulum system is employed to statement the availability of the proposed control technology.