Discrete Adaptive Sliding Mode Control via Wavelet Network for a Class of Nonlinear Systems

Unmodelled dynamics and perturbations are always immeasurable. In this paper, an adaptive sliding mode control (ASMC) based on wavelet network (WN) for a class of non-affine multi-variable nonlinear discrete systems is presented in order to compensate them. Wavelet network which parameters are tuned on-line is adopted to realize the equivalent control, and hitting controls are added in order to satisfy reaching conditions. By combining the adaptive WN with SMC strategy, the constructed control law has many advantages such as robustness, adaptive characters, and the precise mathematic models of controlled plants are not required. Finally, experiment on an inverted pendulum control system based on the proposed control design method is given to verify its effectiveness and performance.