Wavelet Sliding Mode Control of Uncertain Nonaffine Nonlinear Discrete Time Systems

Kulkarni, A.; Puntambekar, S.; Gupta, V.
January 2012
Journal of Control Engineering & Technology;Jan2012, Vol. 2 Issue 1, p30
Academic Journal
In this paper, a wavelet based adaptive sliding mode control is designed for a class of discrete time uncertain nonlinear nonaffine systems. An equivalent affine like structure is first developed form the original nonaffine system and subsequently a wavelet based adaptive sliding mode tracking control scheme is developed for the affine like system. Wavelet neural network (WNN) is used to mimic the uncertainties present in the system. Proposed scheme is derived to guaranty the necessary and sufficient reaching condition for sliding mode control in presence of modeling uncertainties and mathematical inaccuracies. A numerical example is provided to verify the effectiveness of theoretical development.


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