A state-dependent boundary layer design for sliding mode control

The use of a boundary layer in sliding-mode control has been a common technique to reduce chattering of the control signal. However, different choices of the boundary layer width lead to conflicting effects: a large/small boundary layer width can more/less effectively alleviate the chattering phenom...

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Bibliographic Details
Published in:IEEE transactions on automatic control 2002-10, Vol.47 (10), p.1677-1681
Main Authors: Min-Shin Chen, Yean-Ren Hwang, Tomizuka, M.
Format: Article
Language:English
Subjects:
Applied sciences
Automatic control
Boundary layer
Computer science
control theory
systems
Control system synthesis
Control systems
Control theory. Systems
Convergence
Design engineering
Exact sciences and technology
Filters
Linear systems
Mechanical engineering
Norms
On-line systems
Robust control
Signal design
Sliding mode control
Uncertain systems
Variable structure systems
Vibration
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Summary:The use of a boundary layer in sliding-mode control has been a common technique to reduce chattering of the control signal. However, different choices of the boundary layer width lead to conflicting effects: a large/small boundary layer width can more/less effectively alleviate the chattering phenomenon, but leads to less/more accurate control results. This note proposes online adjusting the width of the boundary layer based on the state norm for an uncertain linear system. The proposed state-dependent boundary layer design can effectively eliminate chattering while at the same time ensuring almost perfect control accuracy.
ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.2002.803534