A class of second-order sliding mode controller for servo systems

Sliding mode control (SMC) has been widely investigated in recent years. In this paper, a class of secondorder SMC is proposed and used to achieve good tracking performance in servo systems. SMC has good robustness to the disturbances, but conventional SMC uses a sign function to drive the error on the sliding surface, which could generate chattering effect. In order to avoid this problem, our improved SMC uses the integral of the sign function. Coupled with an exponential reaching law, the new SMC can better suppress torque disturbances and chatter. This paper first gives the derivation of the new SMC. Simulation and experimental results are then carried out to demonstrate its tracking performance and robustness against torque disturbance and chatter.

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