Predictive sliding mode control for perturbed discrete delay time systems: Robustness analysis

Abstract

This paper presents a control strategy for perturbed discrete system with time delay, using Sliding Mode Control (SMC) and Model based Predictive Control (MPC). A predictive sliding mode control strategy is proposed and a discrete-time reaching law is improved. By applying a predictive sliding surface and a reference trajectory, combining with the state feedback correction and rolling optimization method in the predictive control strategy, a predictive sliding mode controller, for perturbed discrete system with time delay, is synthesized. The combination of SMC and MPC improves the performance of these two control laws. A robustness analysis proves that the designed control strategy has stronger robustness and chattering reduction property. Finally, a numerical example is given to illustrate the effectiveness of the proposed theory.