Sliding Mode Predictive Control of Uncertain Systems with Delays Based on Linear Compensation and Super Twisting Algorithm

Sliding Mode Control Methodology is an efficient technique for high dynamic performance, accuracy and robustness in solving diverse nonlinear control problems involving external disturbances. We propose a sliding mode method for robust stability of uncertain systems with delayed feedback based on linear compensation and Super Twisting algorithm. Our aim is to develop a robust control system for uncertain systems with time delay and unknown disturbances. The predictor is used to compensate for the delay in the control input, and the Super Twisting algorithm is used for known disturbances and model uncertainties. Compensation control is designed to reduce control errors due to dynamic characteristic variation and unknown disturbances. The linear compensation principle proposed in this paper is formulated in an equation with performance conditions, not inequalities as in Lyapunov methods, and convergence of the compensation process is guaranteed by linear control theory. Simulation results show the effectiveness of the proposed method. The simulation results demonstrate that sliding mode predictive control for uncertain systems with delays based on linear compensation is highly effective.

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