Chattering Attenuation Sliding Mode Approach for Nonlinear Systems

Hamidreza Nemati, Mai Bando, Shinji Hokamoto

研究成果: Contribution to journalArticle査読

34 被引用数 (Scopus)

抄録

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.

本文言語英語
ページ(範囲)1519-1531
ページ数13
ジャーナルAsian Journal of Control
19
4
DOI
出版ステータス出版済み - 7 2017

All Science Journal Classification (ASJC) codes

  • 制御およびシステム工学

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