Simplex Sliding Mode Control and Chattering Elimination for Systems with Mono-Directional Actuators

In this paper the simplex sliding mode control method is endowed with additional properties of practical as well as theoretical relevance. The method is extended to eliminate the chattering phenomenon. To this end an estimation procedure based on second order sliding mode algorithms is coupled with a simplex sliding mode control of an augmented order system driven by the time derivative of the actual control vector. The procedure is applied to affine systems with mono-directional actuators with the twofold aim of tracking reference trajectories while minimizing the energy consumption