A new robust discrete-time sliding mode control design for systems with time-varying delays on state and input and unknown unmatched parameter uncertainties

Sonia Ghrab, Anouar Benamor and Hassani Messaoud

Mathematics and Computers in Simulation (MATCOM), 2021, vol. 190, issue C, 921-945

Abstract: This paper proposes a new robust Discrete-Time Sliding Mode Control (dt-smc) scheme for linear discrete-time delay system. The delays, affecting the state and the input, are assumed to be known, time-varying and bounded. The considered system is also subject to time-varying Unknown But norm-Bounded (ubb) unmatched uncertainties, that act on the state and the delayed state vectors. The designed controller is based on a novel sliding surface. Using a new Lyapunov functional candidate and by introducing slack variables, a less conservative delay-dependent sufficient condition ensuring the asymptotic stability of the closed loop system is derived in terms of Linear Matrix Inequalities (lmis). With respect to that condition a new dt-smc law is synthesized. The proposed control algorithm is applied to an Autonomous Underwater Vehicle (auv). The simulation results demonstrate the effectiveness of the proposed controller.

Keywords: dt-smc; Time-varying input and state delays; lmi; Delay-dependent stability; Conservatism; ubb unmatched parameter uncertainties; Slack variables; Autonomous Underwater Vehicle (auv). (search for similar items in EconPapers)
Date: 2021
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Citations: View citations in EconPapers (1)

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Persistent link: https://EconPapers.repec.org/RePEc:eee:matcom:v:190:y:2021:i:c:p:921-945

DOI: 10.1016/j.matcom.2021.06.009

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