Chatter Suppression in Sliding Mode Control: Strategies and Tuning Methods

Sliding mode control is a highly robust technique for control of systems with bounded uncertainty. In practice however, sliding mode controllers induce chatter in the system, degrading the system’s performance and damaging its physical components. In this paper, sliding mode controllers for chatter suppression are investigated. Harmonic linearization functions are presented for each of the sliding mode controllers, and are used to obtain estimations of the chattering amplitude and decay-rate of the closed-loop system. The aim is to assist in the timing of chatter suppression sliding mode controllers to meet a desired system performance specification.