Brief paper: An LTR-observer-based dynamic sliding mode control for chattering reduction

Authors:
Min-Shin Chen;Chia-Hung Chen;Fu-Yun Yang
Affiliations:
Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan, ROC;Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan, ROC;Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan, ROC
Venue:
Automatica (Journal of IFAC)
Year:
2007

Citing 2
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On chattering-free dynamic sliding mode controller design

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Abstract

Two important approaches to alleviation of control chattering in sliding mode control are the boundary layer control (BLC) and the dynamic sliding mode control (DSMC). The DSMC is superior to the BLC since in DSMC chattering is alleviated without sacrificing the control accuracy. However, the design of DSMC is more challenging because its sliding variable contains an unknown system uncertainty. This paper proposes a robust two-dimensional LTR observer for estimation of the state-dependent uncertainty in the sliding variable. This paper also shows, via simulation examples, that the DSMC can better reduce chattering than the BLC especially in noisy environments.