Title :
New approach to chattering analysis in systems with sliding modes
Author :
Shtessel, Yuri B. ; Lee, Young-Ju
Author_Institution :
Dept. of Electr. & Comput. Eng., Alabama Univ., Huntsville, AL, USA
Abstract :
A chattering phenomenon as a low frequency oscillation in systems with sliding modes is analyzed via the describing functions technique. It is proposed to design a sliding surface to provide the passivity condition to the open loop dynamics of a modeled plant. It is shown that first order stable lag unmodeled dynamics does not imply chattering in a real sliding mode. A sliding mode controller design algorithm was developed in order to avoid chattering for the case of high order stable lag unmodeled dynamics
Keywords :
control nonlinearities; control system analysis; control system synthesis; describing functions; linear systems; variable structure systems; chattering analysis; describing functions; first order stable lag unmodeled dynamics; high order stable lag unmodeled dynamics; low frequency oscillation; open loop dynamics; passivity condition; sliding mode controller design algorithm; sliding modes; sliding surface; Algorithm design and analysis; Control systems; Equations; Frequency; H infinity control; Motion control; Open loop systems; Sliding mode control; Surface treatment; Transient response;
Conference_Titel :
Decision and Control, 1996., Proceedings of the 35th IEEE Conference on
Conference_Location :
Kobe
Print_ISBN :
0-7803-3590-2
DOI :
10.1109/CDC.1996.577355
