Chattering Attenuation Sliding Mode Approach for Nonlinear Systems

Hamidreza Nemati, Mai Bando, Shinji Hokamoto

Research output: Contribution to journalArticle

19 Citations (Scopus)

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 languageEnglish
Pages (from-to)1519-1531
Number of pages13
JournalAsian Journal of Control
Volume19
Issue number4
DOIs
Publication statusPublished - Jul 2017

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Sliding mode control
Nonlinear systems
Switching functions
Nonlinear dynamical systems
Derivatives
Defects

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, Vol. 19, No. 4, 07.2017, p. 1519-1531.

Research output: Contribution to journalArticle

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