Observer-based discrete-time sliding mode control for systems with unmatched uncertainties |
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| Institution: | 1. College of Oceanic and Atmospheric Sciences, Ocean University of China, Qingdao 266100, PR China;2. Department of Mathematics, Harbin Institute of Technology (Weihai), Weihai 264209, PR China;3. School of Mathematical Sciences, Ocean University of China, Qingdao 266100, PR China |
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| Abstract: | This paper addresses an observer-based sliding mode control (SMC) approach for discrete-time systems with unmatched uncertainties. A modified sliding surface based on disturbance estimation and a sliding mode controller are designed to counteract with the unmatched disturbance. The proposed method exhibits the following three features. First, the hyperplane matrix is designed in a simple way based on the discrete-time Riccati equation. Second, a chattering-free SMC method is utilized. Third, the proposed approach retains the nominal performance of the system. The stability of the overall system is achieved and simulation results are presented to verify the effectiveness of the proposed method. |
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