Chattering reduction of sliding mode control by low‐pass filtering the control signal |
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Authors: | Ming‐Lei Tseng Min‐Shin Chen |
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Affiliation: | 1. Department of Mechanical Engineering, Chinese Culture University, Taipei 111, Taiwan;2. Department of Mechanical Engineering, National Taiwan University, Taipei 106, Taiwan |
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Abstract: | The conventional approach to reducing control signal chattering in sliding mode control is to use the boundary layer design. However, when there is high‐level measurement noise, the boundary layer design becomes ineffective in chattering reduction. This paper, therefore, proposes a new design for chattering reduction by low‐pass filtering the control signal. The new design is non‐trivial since it requires estimation of the sliding variable via a disturbance estimator. The new sliding mode control has the same performance as the boundary layer design in noise‐free environments, and outperforms the boundary layer design in noisy environments. Copyright © 2010 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society |
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Keywords: | Sliding mode control control chattering boundary layer design disturbance estimator |
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