A new direction of the chattering-free sliding mode control methods

A new direction is proposed to reduce the chattering phenomenon in SMC methods. Unlike the previous chattering-free SMC methods, the discontinuous switching function in this direction is considered as a necessary part to guarantee the continuity of control u. The main idea of this direction is to build a continuous control u with two discontinuous components. Based on this idea, we might find a new way to eliminate the contradictions between the robustness and chattering reduction. A chattering-free SMC method is proposed as an example under this direction. And simulation results are given to illustrate the benefits and properties of the proposed direction.