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Chattering free full-order sliding-mode control

Authors
Journal
Automatica
0005-1098
Publisher
Elsevier
Volume
50
Issue
4
Identifiers
DOI: 10.1016/j.automatica.2014.01.004
Keywords
  • Sliding-Mode Control
  • Terminal Sliding-Mode
  • Finite-Time Stability
  • Lyapunov Stability
  • Singularity
Disciplines
  • Design

Abstract

Abstract In conventional sliding-mode control systems, the sliding-mode motion is of reduced order. Two main problems hindering the application of the sliding-mode control are the singularity in terminal sliding-mode control systems and the chattering in both the conventional linear sliding-mode and the terminal sliding-mode control systems. This paper proposes a chattering-free full-order terminal-sliding-mode control scheme. Since the derivatives of terms with fractional powers do not appear in the control law, the control singularities are avoided. A continuous control strategy is developed to achieve the chattering free sliding-mode control. During the ideal sliding-mode motion, the systems behave as a desirable full-order dynamics rather than a desirable reduced-order dynamics. A systematic design method of full-order sliding-mode control for nonlinear systems is presented, which allows both the chattering and singularity problems to be resolved. Simulations validate the proposed chattering free full-order sliding-mode control.

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