Title :
A chattering elimination algorithm for sliding mode control
Author :
Wong, L.K. ; Leung, F.H.F. ; Tam, P.K.S.
Author_Institution :
Dept. of Electron. Eng., Hong Kong Polytech., Hung Hom, Hong Kong
Abstract :
It is well known that sliding mode control is capable of tackling systems with uncertainties. However, the discontinuous control signal causes a significant problem of chattering. An algorithm is proposed in this paper to eliminate chattering by removing the discontinuous control signal when the system is operating near the sliding plane. The transient performance as well as the robustness properties will not be affected and zero steady-state error is ensured. Mathematical derivation of the algorithm is detailed and the algorithm is applied to a system with parameter uncertainties to show its ability and merits
Keywords :
control system analysis; control system synthesis; robust control; transient response; uncertain systems; variable structure systems; chattering elimination algorithm; control algorithm; control design; control simulation; discontinuous control signal; parameter uncertainties; robustness properties; sliding mode control; steady-state error; system uncertainties; transient performance; Control systems; Noise generators; Nonlinear dynamical systems; Robustness; Sliding mode control; Steady-state; Switches; Uncertain systems; Uncertainty; Upper bound;
Conference_Titel :
Industrial Electronics, Control, and Instrumentation, 1996., Proceedings of the 1996 IEEE IECON 22nd International Conference on
Conference_Location :
Taipei
Print_ISBN :
0-7803-2775-6
DOI :
10.1109/IECON.1996.570963
