Chattering free full-order sliding-mode control |
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| Authors: | Yong Feng Fengling Han Xinghuo Yu |
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| Affiliation: | 1. Department of Electrical Engineering, Harbin Institute of Technology, Harbin 150001, China;2. State Key Laboratory of Power Transmission Equipment & System Security and New Technology, Chongqing University, China;3. School of Computer Science and IT, RMIT University, Melbourne, VIC 3001, Australia;4. School of Electrical and Computer Engineering, RMIT University, Melbourne, VIC 3001, Australia |
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| Abstract: | In conventional sliding-mode control systems, the sliding-mode motion is of reduced order. Two main problems hindering the application of the sliding-mode control are the singularity in terminal sliding-mode control systems and the chattering in both the conventional linear sliding-mode and the terminal sliding-mode control systems. This paper proposes a chattering-free full-order terminal-sliding-mode control scheme. Since the derivatives of terms with fractional powers do not appear in the control law, the control singularities are avoided. A continuous control strategy is developed to achieve the chattering free sliding-mode control. During the ideal sliding-mode motion, the systems behave as a desirable full-order dynamics rather than a desirable reduced-order dynamics. A systematic design method of full-order sliding-mode control for nonlinear systems is presented, which allows both the chattering and singularity problems to be resolved. Simulations validate the proposed chattering free full-order sliding-mode control. |
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| Keywords: | Sliding-mode control Terminal sliding-mode Finite-time stability Lyapunov stability Singularity |
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