Research on double sliding mode adaptive nonlinear control systems based on the U-model

In this paper, the problem of high precision control for nonlinear continuous systems with external uncertainties is studied, and the state space expression of continuous time MIMO U-model is presented. A double sliding mode adaptive nonlinear control system based on the U-model, the adaptive double sliding mode controller (DSMC) acts as a robust dynamic inverter (DI) to offset the nonlinearity and dynamics of the controlled object. The preconditions required in the DSMC are the plant dynamic order and the boundedness of plant and disturbances. The deep learning algorithm adaptively adjusts the sliding mode boundary layer’s thickness and equivalent control reaching law parameters. On this basis, the stability of the control system is proved by the Lyapunov stability theory, and the error problem of the control system is discussed. Finally, the feasibility and superiority of the design framework are verified by simulation experiments. The results show that the proposed adaptive DSMC has a shorter response time than the traditional method and can effectively suppress sliding mode chattering.