A general class of sliding surface for sliding mode control

Author

Chung, Steven Chingyei ; Lin, Chun-Liang

Author_Institution

Dept. of Autom. Control Eng., Feng Chia Univ., Taichung, Taiwan

Volume

43

Issue

1

fYear

1998

fDate

1/1/1998 12:00:00 AM

Firstpage

115

Lastpage

119

Abstract

In the conventional sliding mode control, the relative degree of the chosen sliding surface is usually one. This paper addresses a general class of sliding surface whose relative degree is no longer restricted to one. We show that when the relative degree is more than two, it is inevitable that there will exist a limit cycle for the nonlinear sign function. And for the case of relative degree two the system possesses poor phase margin. However, these disadvantages can be remedied remarkably by smoothing out the control nonlinearity in a suitable boundary layer with a saturation function that ensures asymptotic stability of the overall system

Keywords

asymptotic stability; control nonlinearities; limit cycles; stability criteria; transfer function matrices; variable structure systems; asymptotic stability; boundary layer; control nonlinearity; limit cycle; nonlinear sign function; phase margin; relative degree; saturation function; sliding mode control; sliding surface; Control systems; Eigenvalues and eigenfunctions; Limit-cycles; Linear programming; Linear systems; Robust control; Robustness; Sliding mode control; Smoothing methods; Stability;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/9.654911

Filename

654911