Integral Sliding Mode Control Based on Uncertainty Compensator

This paper proposes an integral sliding mode control based on uncertainty compensation for a class of nonlinear system. Applying the boundary layer method in the conventional sliding mode control, the chattering can be reduced, and meanwhile the steady-state error appears. Integral sliding mode control is an effective solution to eliminate the steady-state error because of the integral term in its sliding manifold design. But the switching gain should be large enough to guarantee a good performance when the model uncertainties or external disturbances are unknown. The corresponding uncertainty compensator is estimated to improve integral sliding mode control performance via utilizing the sliding manifold affected by the uncertainties. Adding a compensation term directly attenuates the switching gain and makes the control output of actuators available. The theoretical analysis and numerical simulation verify the effectiveness of the proposed strategy.