A simple reaching law based design method for 2-sliding mode control

Sliding Mode Control (SMC) is a unique control strategy that emerged from Variable Structure Control. The chattering in 1-Sliding Mode Control was a major limitation in real world applications in spite of its proven superiority in handling disturbances and uncertainties. The Higher-Order Sliding Mode(HOSM) methods gained popularity with their ability to eliminate chattering. But the current literature available on HOSM is overly complex and difficult to grasp for a practicing engineer. The purpose of this paper is to present the concept in a simplified manner. A reaching law based approach for designing 2-sliding controller is explained and evaluated with examples.

[1]  S. Janardhanan Relay-free Second Order Sliding Mode Control , 2006, 2006 IEEE International Conference on Industrial Technology.

[2]  S. Gulati,et al.  Control of Nonlinear Systems Using Terminal Sliding Modes , 1992, 1992 American Control Conference.

[3]  Arie Levant,et al.  Principles of 2-sliding mode design , 2007, Autom..

[4]  A. Levant Sliding order and sliding accuracy in sliding mode control , 1993 .

[5]  S. Bhat,et al.  Lyapunov analysis of finite-time differential equations , 1995, Proceedings of 1995 American Control Conference - ACC'95.

[6]  S. Bhat,et al.  Finite-time stability of homogeneous systems , 1997, Proceedings of the 1997 American Control Conference (Cat. No.97CH36041).

[7]  Dennis S. Bernstein,et al.  Finite-Time Stability of Continuous Autonomous Systems , 2000, SIAM J. Control. Optim..

[8]  Antonella Ferrara,et al.  On multi-input second order sliding mode control of nonlinear systems with uncertainty , 1999, Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304).

[9]  V. Haimo Finite time controllers , 1986 .

[10]  Y. ORLOV,et al.  Finite Time Stability and Robust Control Synthesis of Uncertain Switched Systems , 2004, SIAM J. Control. Optim..