Dither for chattering reduction in sliding mode control systems

Chattering is one of the most undesired drawbacks in the implementation of sliding mode controllers. The boundary layer approach is widely used for chattering reduction but it introduces further complexity into the implementation when the actuator has a natural on-off behaviour. A new technique that uses dithering for reducing the chattering phenomenon is proposed. Simulation results show the effectiveness of the proposed technique in terms of robustness and stability.