Design of Sliding-mode Cloud Hybrid Controller for Uncertain Nonlinear Systems

This paper proposes a sliding-mode cloud hybrid controller for nonlinear systems with uncertainty and disturbance. The proposed sliding-mode cloud hybrid controller is a combination of sliding-mode controller (SMC) and cloud controller, which inherits the benefits of these two methods. The cloud controller, with the sliding-mode function as its input, is used to replace the discontinuous switch control part in SMC to alleviate the chattering phenomenon effectively. The design procedure of the proposed controller is described in detail. The Lyapunov stability method is adopted to guarantee the convergence condition. A Genesio chaotic system is used to illustrate the feasibility and effectiveness of the proposed method. The simulation results show that the proposed controller drives the chaotic system to a desired state trajectory in spite of system uncertainties and external disturbances.