Adaptive neural dynamic surface sliding mode control for uncertain nonlinear systems with unknown input saturation. (21st September 2016)

• Record Type: Journal Article
• Authors: Chen, Qiang; Shi, Linlin; Nan, Yurong; Ren, Xuemei
• Is Part Of: International journal of advanced robotic systems. Volume 13:Number 5(2016)
• Publication Date: 2016-09-21
• Subjects: Dynamic surface control -- integral sliding mode control -- neural network -- input saturation -- nonlinear system; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.1177/1729881416657750
• Languages: English
• ISSNs: 1729-8806

Abstract

In this article, an adaptive neural dynamic surface sliding mode control scheme is proposed for uncertain nonlinear systems with unknown input saturation. The non-smooth input saturation nonlinearity is firstly approximated by a smooth non-affine function, which can be further transformed into an affine form according to the mean value theorem. Then, one simple sigmoid neural network is employed to approximate the uncertain nonlinearity including the input saturation, and the approximation error is estimated using an adaptive learning law. Virtual controls are designed in each step by combing the dynamic surface control and integral sliding mode technique, and thus the problem of complexity explosion inherent in the conventional backstepping method is avoided. With the proposed control scheme, no prior knowledge is required on the bound of input saturation, and comparative simulations are given to illustrate the effectiveness and superior performance.