Dynamic sliding mode controller design for reducing chattering

A dynamic sliding mode control algorithm that can successfully avoid the chattering problem and does not provide high gain control is proposed in this paper. Without using any differentiator, a modified asymptotically stable second-order sliding mode control law is developed in which the proposed controller can guarantee finite time convergence to the sliding mode, and the system states asymptotically approach zero. Simulation results demonstrate the effectiveness of the proposed dynamic sliding mode controller and provide alleviation of chattering.