Discrete variable structure control algorithm for nonlinear systems via sliding mode prediction

In this paper, a novel discrete variable structure control strategy based on sliding mode prediction for a class of nonlinear systems is presented. By introducing a sliding mode prediction model, the trajectory of the sliding mode follows the expected track of the proposed reaching law exactly. Simultaneously, the corresponding variable structure control law which realized receding horizon optimization and feedback correction is obtained. Simulation results illustrate that the closed-loop system has desired performance, such as strong robustness, fast convergence and chattering elimination