SMC for nonlinear stochastic switching systems with quantization

This paper focuses on the sliding mode control (SMC) design for nonlinear stochastic switching systems subject to semi-Markov switching parameters and signal quantization. The aim of this work is to design an efficient SMC scheme under quantization error effect. To this end, a mode-independent sliding surface is adopted to avoid the potential repetitive jumping effects. Then, based on the weak infinitesimal operator theory, sufficient conditions are given for the corresponding stochastic stability criteria. Furthermore, an appropriate SMC law is proposed to drive the state signals onto the predefined manifold and the effect of quantization error can be effectively attenuated. Finally, a single-link robot arm model is provided to illustrate the effectiveness of the theoretical findings.