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

Author

Kachroo, Pushkin ; Tomizuka, Masayoshi

Author_Institution

Center for Transp. Res., Virginia Polytech. Inst. & State Univ., Blacksburg, VA, USA

Volume

41

Issue

7

fYear

1996

fDate

7/1/1996 12:00:00 AM

Firstpage

1063

Lastpage

1068

Abstract

To reduce chattering in sliding-mode control, a boundary layer around the switching surface is used, and a continuous control is applied within the boundary. The effects of various control laws within the boundary layer on chattering and error convergence in different systems are studied. New functions for chattering reduction and error convergence inside the boundary layer are proposed which are discontinuous in magnitude but not in sign. The internal model principle has been used to generalize the design for the class of nonlinear systems being considered

Keywords

control nonlinearities; convergence; nonlinear control systems; robust control; variable structure systems; boundary layer; chattering reduction; continuous control; error convergence; nonlinear systems; sliding-mode control; switching surface; Bandwidth; Control systems; Convergence; Error correction; Feedback control; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear systems; Robust control; Sliding mode control;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/9.508917

Filename

508917