On the redesign of continuous approximation in sliding mode control

A redesign of continuous approximation is proposed in this article. For the redesign, a smooth saturation had been formulated by four axioms and an illustrative sine saturation that satisfied the four axioms is thus formulated and applies to a sliding mode controller. The generalized sliding mode with boundary layer can provide SMC with significantly reduced chatters but with the price of robustness. Through the redesign the robustness can be improved and chatter can be alleviated as well. Simulation results on a wheeled-vehicle have shown its efficiency further.