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Lyapunov stability analysis of second-order sliding-mode control and its application to chattering reduction design |
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| Authors: | Jeang-Lin Chang Shih-Yu Lin Kuan-Chao Chu Min-Shin Chen |
| Affiliation: | 1.Department of Electrical Engineering,Oriental Institute of Technology, Banchiao District,New Taipei City,Taiwan;2.Department of Mechanical Engineering,National Taiwan University,Taipei,Taiwan;3.Department of Mechanical Engineering,Hwa Hsia University of Technology,New Taipei City,Taiwan;4.Department of Mechanical Engineering,National Taiwan University,Taipei,Taiwan |
| Abstract: | This paper proposes a new sliding mode control design with reduced control chattering. The proposed new design inherits the design concept from dynamic sliding mode control, in which the first-order time derivative of the control input is treated as the control variable for a chattering control design. Previous dynamic sliding mode designs require an extra uncertainty observer or uncertainty estimator to construct the sliding surface. This paper is able to waive such observer or estimator. |
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