Experimental results on smooth sliding control of uncertain systems

Addresses the design, implementation and experimental evaluation of a sliding control scheme for uncertain systems which is free of chattering and results in smooth control signals. The proposed approach relies on an appropriate prediction error. It is shown that, in practice, successful performance of the basic sliding controller requires adequate filtering of the measured signal. A particular Kalman-filter, independent of the plant itself, is shown to yield very satisfactory experimental results obtained on a 1 d.o.f. helicopter-like mechanism