Robust control of nonlinear dynamic systems using sliding mode control and productive networks

A new robust controller design of nonlinear dynamic systems is proposed by combining with sliding mode control (SMC) and productive networks (PN). Essentially, the sliding mode control utilizes a high-speed switching control action to drive nonlinear plant's state trajectories toward a specific hyperplane in the state space, and to maintain the state trajectories sliding on the specific hyperplane for all time. Productive networks, which are a special type of artificial neural networks, are then used to implement reaching and sliding conditions and to tackle the drawbacks of SMC such as chattering or high control gain. Attractive features of the proposed method include a systematic procedure of controller design, a reduction in chattering, robustness against model uncertainties and external disturbances. A numerical example is given to demonstrate the effectiveness of the proposed method.