Discrete-time sliding mode controller with time-varying band for unfixed sampling-time systems

[+] Author and Article Information
Chidentree Treesatayapun

Department of Robotic and Advanced Manufacturing, CINVESTAV-Saltillo, Ramos, Arizpe, 25903, Mexico

1Corresponding author.

ASME doi:10.1115/1.4040209 History: Received October 09, 2017; Revised April 30, 2018


An adaptive discrete-time controller is developed for a class of practical plants when the mathematical model is unknown and the sampling time is non-constant or unfixed. The data-driven model is established by the set of plant's input-output data under the pseudo-partial derivative (PPD) which represents the change of output with respect to the change of control effort. The multi-input fuzzy rule emulated network (MiFREN) is utilized to estimate PPD with an online-learning phase to tune all adjustable parameters of MiFREN with the convergence analysis. The proposed control law is developed by the discrete-time sliding mode control (DSMC) and the time-varying band is established according to the unfixed sampling time and unknown boundaries of disturbances and uncertainties. The prototype of DC-motor current control with uncontrolled-sampling time is constructed to validate the performance of the proposed controller.

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