Self-Evolving Chebyshev Radial Basis Function Neural Complementary Sliding Mode Control

A novel intelligent complementary sliding mode control (ICSMC) method is proposed for nonlinear systems with unknown uncertainties in this paper. A self-evolving Chebyshev radial basis function neural network (RBFNN) (SECRBFNN) with self-learning parameters and structure is proposed and combined with complementary sliding mode control (CSMC). CSMC not only has the advantages of the strong robustness of traditional SMC but also has certain advantages in reducing chattering and control accuracy. The SECRBFNN, which combines the advantages of the Chebyshev network (CN) and an RBFNN, is used to estimate unknown uncertainties in nonlinear systems. Meanwhile, a node self-evolution mechanism is proposed to avoid redundancy in the number of neurons. Eventually, the detailed simulation results demonstrate the feasibility and superiority of the proposed method.