Abstract
This study introduces a new robust nonlinear control scheme based on the theory of nonsingular terminal sliding mode control (NTSMC). Since conventional NTSMC utilizes a discontinuous switching function, a significant flaw called chattering can occur. The main purpose of this study is to design a new switching function based upon Lyapunov stability in order to alleviate this drawback over time. There are many approaches to mitigate the chattering drawback in SMC such as utilizing a smooth approximation of the switching element, or employing higher order sliding mode control (HOSMC) strategy. However, the use of a continuous approximation affects the system's performance and a finite reaching time to the sliding manifold, and in HOSMC the estimation of high-order derivatives of states is usually difficult and it still exhibits chattering in the presence of parasitic dynamics. In this study by employing a new sliding manifold including a time function, the chattering is attenuated as well as keeping the robustness. Finally, a second-order nonlinear dynamical system subject to disturbance is simulated to highlight the validity and applicability of the proposed method.
| Original language | English |
|---|---|
| Journal | Asian Journal of Control |
| DOIs | |
| Publication status | Accepted/In press - 2017 |
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All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
Cite this
Chattering Attenuation Sliding Mode Approach for Nonlinear Systems. / Nemati, Hamidreza; Bando, Mai; Hokamoto, Shinji.
In: Asian Journal of Control, 2017.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Chattering Attenuation Sliding Mode Approach for Nonlinear Systems
AU - Nemati, Hamidreza
AU - Bando, Mai
AU - Hokamoto, Shinji
PY - 2017
Y1 - 2017
N2 - This study introduces a new robust nonlinear control scheme based on the theory of nonsingular terminal sliding mode control (NTSMC). Since conventional NTSMC utilizes a discontinuous switching function, a significant flaw called chattering can occur. The main purpose of this study is to design a new switching function based upon Lyapunov stability in order to alleviate this drawback over time. There are many approaches to mitigate the chattering drawback in SMC such as utilizing a smooth approximation of the switching element, or employing higher order sliding mode control (HOSMC) strategy. However, the use of a continuous approximation affects the system's performance and a finite reaching time to the sliding manifold, and in HOSMC the estimation of high-order derivatives of states is usually difficult and it still exhibits chattering in the presence of parasitic dynamics. In this study by employing a new sliding manifold including a time function, the chattering is attenuated as well as keeping the robustness. Finally, a second-order nonlinear dynamical system subject to disturbance is simulated to highlight the validity and applicability of the proposed method.
AB - This study introduces a new robust nonlinear control scheme based on the theory of nonsingular terminal sliding mode control (NTSMC). Since conventional NTSMC utilizes a discontinuous switching function, a significant flaw called chattering can occur. The main purpose of this study is to design a new switching function based upon Lyapunov stability in order to alleviate this drawback over time. There are many approaches to mitigate the chattering drawback in SMC such as utilizing a smooth approximation of the switching element, or employing higher order sliding mode control (HOSMC) strategy. However, the use of a continuous approximation affects the system's performance and a finite reaching time to the sliding manifold, and in HOSMC the estimation of high-order derivatives of states is usually difficult and it still exhibits chattering in the presence of parasitic dynamics. In this study by employing a new sliding manifold including a time function, the chattering is attenuated as well as keeping the robustness. Finally, a second-order nonlinear dynamical system subject to disturbance is simulated to highlight the validity and applicability of the proposed method.
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UR - http://www.scopus.com/inward/citedby.url?scp=85011308984&partnerID=8YFLogxK
U2 - 10.1002/asjc.1477
DO - 10.1002/asjc.1477
M3 - Article
AN - SCOPUS:85011308984
JO - Asian Journal of Control
JF - Asian Journal of Control
SN - 1561-8625
ER -