Chattering Free Simplex Sliding Mode Control for Systems with Mono-directional Actuators

This paper considers regular simplices of vectors, the exploitation of which is analyzed in the simplex sliding mode control of multi-input uncertain nonlinear systems. The method is extended to eliminate the chattering phenomenon. To this end an estimation procedure based on second order sliding mode algorithms is coupled with a simplex sliding mode control of an augmented order system. The methodology is applied to affine systems with mono-directional actuators