Robust Adaptive Sliding Mode Control of Nonlinear Systems Using Neural Network

Sami El Ferik; Magdi S. Mahmoud; Muhammad Maaruf

doi:10.1109/SSD49366.2020.9364137

Robust Adaptive Sliding Mode Control of Nonlinear Systems Using Neural Network

Sami El Ferik, Magdi S. Mahmoud, Muhammad Maaruf

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

9 Scopus citations

Abstract

Many higher order complex nonlinear systems with unknown parameters cannot be expressed in the so called linear-in-The-unknown-parameters form. This brings a huge obstacle to the application of adaptive control to estimate the unknown parameters. Instead of estimating each of the unknown parameters of a function, a feed-forward neural network (NN) can approximate the whole function due to its universal approximation property. In this study, an adaptive neural network integral fast terminal sliding mode controller (NN-IFTSMC) has been proposed for a general n-Th order nonlinear systems with parametric uncertainties and external disturbances. The closed loop system has been proven to be bounded near the origin using Lyapunov criterion. The designed control scheme was applied to a quadrotor (UAV) and an excellent trajectories' tracking were obtained.

Original language	English
Title of host publication	Proceedings of the 17th International Multi-Conference on Systems, Signals and Devices, SSD 2020
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	591-596
Number of pages	6
ISBN (Electronic)	9781728110806
DOIs	https://doi.org/10.1109/SSD49366.2020.9364137
State	Published - 20 Jul 2020

Publication series

Name	Proceedings of the 17th International Multi-Conference on Systems, Signals and Devices, SSD 2020

Bibliographical note

Publisher Copyright:
© 2020 IEEE.

Keywords

Adaptive neural network
fast terminal sliding mode control
integral sliding mode control
quadrotor

ASJC Scopus subject areas

Artificial Intelligence
Computer Networks and Communications
Signal Processing
Electrical and Electronic Engineering
Instrumentation

Access to Document

10.1109/SSD49366.2020.9364137

Cite this

El Ferik, S., Mahmoud, M. S., & Maaruf, M. (2020). Robust Adaptive Sliding Mode Control of Nonlinear Systems Using Neural Network. In Proceedings of the 17th International Multi-Conference on Systems, Signals and Devices, SSD 2020 (pp. 591-596). Article 9364137 (Proceedings of the 17th International Multi-Conference on Systems, Signals and Devices, SSD 2020). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SSD49366.2020.9364137

El Ferik, Sami ; Mahmoud, Magdi S. ; Maaruf, Muhammad. / Robust Adaptive Sliding Mode Control of Nonlinear Systems Using Neural Network. Proceedings of the 17th International Multi-Conference on Systems, Signals and Devices, SSD 2020. Institute of Electrical and Electronics Engineers Inc., 2020. pp. 591-596 (Proceedings of the 17th International Multi-Conference on Systems, Signals and Devices, SSD 2020).

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abstract = "Many higher order complex nonlinear systems with unknown parameters cannot be expressed in the so called linear-in-The-unknown-parameters form. This brings a huge obstacle to the application of adaptive control to estimate the unknown parameters. Instead of estimating each of the unknown parameters of a function, a feed-forward neural network (NN) can approximate the whole function due to its universal approximation property. In this study, an adaptive neural network integral fast terminal sliding mode controller (NN-IFTSMC) has been proposed for a general n-Th order nonlinear systems with parametric uncertainties and external disturbances. The closed loop system has been proven to be bounded near the origin using Lyapunov criterion. The designed control scheme was applied to a quadrotor (UAV) and an excellent trajectories' tracking were obtained.",

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El Ferik, S, Mahmoud, MS & Maaruf, M 2020, Robust Adaptive Sliding Mode Control of Nonlinear Systems Using Neural Network. in Proceedings of the 17th International Multi-Conference on Systems, Signals and Devices, SSD 2020., 9364137, Proceedings of the 17th International Multi-Conference on Systems, Signals and Devices, SSD 2020, Institute of Electrical and Electronics Engineers Inc., pp. 591-596. https://doi.org/10.1109/SSD49366.2020.9364137

Robust Adaptive Sliding Mode Control of Nonlinear Systems Using Neural Network. / El Ferik, Sami; Mahmoud, Magdi S.; Maaruf, Muhammad.
Proceedings of the 17th International Multi-Conference on Systems, Signals and Devices, SSD 2020. Institute of Electrical and Electronics Engineers Inc., 2020. p. 591-596 9364137 (Proceedings of the 17th International Multi-Conference on Systems, Signals and Devices, SSD 2020).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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El Ferik S, Mahmoud MS, Maaruf M. Robust Adaptive Sliding Mode Control of Nonlinear Systems Using Neural Network. In Proceedings of the 17th International Multi-Conference on Systems, Signals and Devices, SSD 2020. Institute of Electrical and Electronics Engineers Inc. 2020. p. 591-596. 9364137. (Proceedings of the 17th International Multi-Conference on Systems, Signals and Devices, SSD 2020). doi: 10.1109/SSD49366.2020.9364137

Robust Adaptive Sliding Mode Control of Nonlinear Systems Using Neural Network

Abstract

Publication series

Bibliographical note

Keywords

ASJC Scopus subject areas

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Cite this