Discrete-time sliding mode controller subject to real-time fractional delays and packet losses for networked control system

摘要

The communication delay and packet loss are two major concerns in Networked Control System as it deteriorates the performance of the system. In this paper, a novel approach for designing a discrete-time sliding mode controller using Thiran's delay approximation is presented considering the real time networked medium and packet loss situation. Thiran's delay approximation technique is used to compensate the controller to actuator fractional delay as well as sensor to controller fractional delay in the sliding surface. Further, the stability condition for the closed loop system with proposed controller is derived using Lyapunov function. The efficacy of the proposed strategy is endowed by simulation results that are conceded in the presence of CAN and Switched Ethernet communication medium.