Observer-based discrete-time sliding mode control for systems with unmatched uncertainties

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. (c) 2021 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.

Automated summary

This paper presents an observer-based sliding mode control approach for discrete-time systems with unmatched uncertainties, featuring simple design, chattering-free SMC method, and retaining nominal performance. The effectiveness of the proposed method is demonstrated through simulation results.