Predictor Based Unknown Non-linear Discrete Time Delayed System Using Sliding Mode Control

Abstract

Sliding Mode Control (SMC) technique has been used in an extensive manner in many practical applications especially in motion control systems. This paper investigates non-linear discrete time systems accommodating input delay. Firstly, input delay is removed by introducing a smith predictor that converts the original discrete system into delayed free version of the system and makes it solvable. Then, for an effective control "reaching law method" is used to design control law and construction of sliding surface for the delayed free system. The Chebyshev Neural Networks (CNNs) are used to approximate the unknown non-linearity. Simulation shows the robustness of the control scheme.