Robust tracking and model following based on discrete-time neuro-sliding mode control for uncertain time-delay systems

This paper proposes a discrete-time neuro-sliding mode control (NSMC) scheme to realize the problem of robust tracking and model following for a class of uncertain time-delay systems. It is shown that the proposed scheme guarantees the stability of closed-loop system and achieves zero-tracking error in the presence of state delays, input delays, parameter uncertainties, and external disturbances. The selection of sliding surface and the existence of sliding mode are two important issues, which have been addressed. This scheme not only assures robustness against time-delays, system uncertainties and disturbances, but also avoids chattering phenomenon and reaching phase. Moreover, the knowledge of upper bound of uncertainties is not required. Both the theoretical analysis and illustrative example demonstrate the validity of the proposed scheme.