A new predictive sliding mode control approach for networked control systems with time delay and packet dropout

Abstract

This paper investigates the predictive sliding mode control problem of networked control system with long-time delay and consecutive packet dropout in both sensor-controller link and controller-actuator link. A new modeling method that uses only one Markov chain to describe the time delay and packet dropout in a unified model is proposed. As a modification of the original law, a new chattering-free reaching law that is suitable for multiple-input systems is proposed and is later used as the reference trajectory of the designed predictive sliding mode controller. To overcome the influence of time delay and packet dropout, a novel predictive sliding mode controller equipped with a logic zero-order-holder and delay compensator is proposed, and the proposed compensation strategy is theoretically proven to be able to make the system completely free from the influence of long-time delay and consecutive packet dropout. Finally, a simulation example is given to illustrate the validity of the proposed controller.