Chattering Attenuation Sliding Mode Approach for Nonlinear Systems

Chattering attenuation in sliding mode control systems

In this paper sliding mode control systems arc considered and a new technique to attenuate chattering is proposed. The technique employs simple , first-order dynamical devices , i.e . an integrator or a low-pass filter, to compensate in part for unknown and changing dist urbance. As a result of this compensation, the magnitnde of the discontinuous control term is essentially reduced. The term d...

Chattering Reduction in Sliding Mode Control: An Improvement for Nonlinear Systems

In this paper, an algorithm for the sliding mode control of typical nonlinear systems is proposed. It is based on speed/distance relation during the reaching phase and the state velocity versus state variable relation of 2nd-order nonlinear systems. A new speed control relationship in the reaching phase is developed. The result shows that such relationship performs better than similar ones, and...

Existence of solutions to a class of nonlinear convergent chattering-free sliding mode control systems

Sliding mode control is a nonlinear control technique, which is robust against some classes of uncertainties and disturbances. However, this control produces chattering which can cause instability due to unmodeled dynamics and can also cause damage to actuators or the plant. There are essentially two ways to counter the chattering phenomenon. One way is to use higher order sliding mode, and the...

Chattering free full-order sliding-mode control

In conventional sliding-mode control systems, the sliding-mode motion is of reduced order. Two main problems hindering the application of the sliding-mode control are the singularity in terminal slidingmode control systems and the chattering in both the conventional linear sliding-mode and the terminal sliding-mode control systems. This paper proposes a chattering-free full-order terminal-slidi...

Chattering reduction and error convergence in the sliding-mode control of a class of nonlinear systems