Chattering in sliding mode control systems with boundary layer approximation of discontinuous control

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Abstract

It has been a widely accepted notion that approximation of discontinuous control by certain continuous function in a boundary layer results in chattering elimination in sliding mode control systems. It is shown through three different types of analysis that in the presence of parasitic dynamics, this approach to chattering elimination would work only if the slope of the continuous nonlinear function within the boundary layer is low enough, which may result in the deterioration of performance of the system. A few examples are provided. An approach to robust stability of linear systems from the consideration of the saturating control is proposed.

Original languageBritish English
Pages (from-to)1126-1133
Number of pages8
JournalInternational Journal of Systems Science
Volume44
Issue number6
DOIs
StatePublished - 1 Jun 2013

Keywords

  • chattering
  • nonlinear systems
  • sliding mode control
  • stability

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