Experimental verification of total sliding-mode control for Chua´s chaotic circuit

This study mainly focuses on the development of a total sliding-mode control (TSMC) strategy for a Chua´s chaotic circuit. The TSMC scheme, which is insensitive to uncertainties including parameter variations and external disturbance in the whole control process, comprises the baseline model design and the curbing controller design. In the baseline model design, a computed torque controller is designed to cancel the non-linearity of the nominal plant. In the curbing controller design, an additional controller is designed using a new sliding surface to ensure the sliding motion through the entire state trajectory. Therefore the controlled system has a total sliding motion without a reaching phase in the TSMC system. The effectiveness of the proposed TSMC scheme is verified by experimental results, and the advantages of good transient response and robustness to uncertainties are indicated in comparison with a conventional sliding-mode control system.