Higher order sliding mode prediction based discrete-time variable structure control for nonlinear uncertain systems

Employing predictive control strategy, a novel discrete-time variable structure control (VSC) algorithm is presented for a class of nonlinear uncertain systems. By applying reaching law and higher order sliding mode approaches, a creative higher order sliding mode prediction model (HOSMPM) is constructed, such that the future information of sliding mode can be used. Based on the HOSMPM and feedback correction, control law is obtained by virtue of receding horizon optimization. The robustness analysis proofs that the closed-loop systems possess strong robustness to matched or unmatched uncertainties, in the case of unknown boundaries of uncertainties. The validity of proposed VSC method is illustrated by a numerical simulation.