Adaptive Discrete Time Sliding Mode Control for a Class of Nonlinear Systems

Abstract

In this paper, a robust sliding mode adaptive tracking state feedback control scheme is designed for a class of nonlinear discrete time (DT) perturbed systems in parametric strict feedback form. The design procedure is based on the adaptive backstepping methodology proposed for continuous time systems, using step-by-step a Lyapunov function. First, an adaptive sliding manifold is formulated, and then, a DT sliding mode controller is proposed to achieve the designed manifold be attractive in presence of bounded matched uncertainty. To show the effectiveness of the proposed method, simulation results are performed.