Chapter 7

PD Control with Sliding Mode Compensation


In this chapter, the asymptotic stability of PD control with parallel neural networks (NN) and the first-order sliding mode compensation (SMC) is proposed. The neural PD is used to approximate the nonlinear plant. A dead-zone algorithm is applied for the neural PD control. After the regulation error enters to the dead-zone, a super-twisting second-order sliding-mode is used to guarantee finite time convergence of the whole control (PD+NN+SMC). By means of a Lyapunov approach, we prove that this type of control can assure finite time convergence and less chattering than the other methods, such as SMC, PD+SMC, and PD+SMC+NN.


Sliding modes; Fuzzy compensation; PD control ...

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