Chattering-free sliding mode control based on support vector regression

In order to deal with time delay in the system and saturation in the input, a new chattering free support vector regression sliding mode control (SVR-SMC) law based on Linear Matrix Inequalities (LMIs) is proposed. The sign function of reaching law in conventional Sliding Mode Control (SMC) is replaced by output of SVR. An equivalent matrix is constructed for input saturation condition in the scheme. The feasibility and effectiveness of the SVR-SMC scheme are demonstrated via numerical examples. Simulation results illustrate that the closed-loop system has desired performance and control input is chattering free.