Discrete Time Neuro Sliding Mode Control With a Task-Specific Output Error

Abstract

The problem of obtaining the error at the output of a neuro sliding mode controller is analyzed in this paper. The controller operates in discrete time and the method presented describes an error measure that can be used if the task to be achieved is to drive the system under control to a predefined sliding regime. Once the task-specific output error is calculated, the neurocontroller parameters can be tuned so that the task is achieved. The paper postulates the strategy for discrete time representation of uncertain nonlinear systems belonging to a particular class. The performance of the proposed technique has been clarified on a third order nonlinear system, and the parameters of the controller are adjusted by using the error backpropagation algorithm. It is observed that the prescribed behavior can be achieved with a simple network configuration.