RBF-based discrete sliding mode control for robust tracking of uncertain time-delay systems with input nonlinearity

In this article, a control scheme combining radial basis function neural network and discrete sliding mode control method is proposed for robust tracking and model following of uncertain time-delay systems with input nonlinearity. The proposed robust tracking controller guarantees the stability of overall closed-loop system and achieves zero-tracking error in the presence of input nonlinearity, time-delays, time-varying parameter uncertainties, and external disturbances. The salient features of the proposed controller include no requirement of a priori knowledge of the upper bound of uncertainties and the elimination of chattering phenomenon and reaching phase. Simulation results are presented to demonstrate the effectiveness of the proposed scheme. (c) 2015 Wiley Periodicals, Inc. Complexity 21: 194-201, 2016