Sliding mode switching control under arbitrary switchings in the presence of uncertain parameters

In this article, we concerned with the tracking control problem for a class of single-input single-output discrete switched nonlinear systems in the presence of uncertain parameters. We address a discrete-time sliding mode switching control scheme via disturbance compensator technique using saturation function and arbitrary switching method which is an effective robust way to reduce the chattering phenomenon and improve system control performance. The resulting closed-loop switched system is proved to be robustly stable such that the sliding mode surface of the closed control system is well obtained and the accuracy of the tracking error performance can be reached. Simulation results of the of electro-hydraulic servo system show that the presented sliding mode switching control scheme gives better tracking control performance over traditional sliding mode control scheme without disturbance compensator.