It is well-known that sliding mode control is capable of tackling non-linear systems with parameter uncertainties. However, the discontinuous control signal causes a significant problem of chattering. An algorithm is proposed in this paper to eliminate chattering by removing the discontinuous control when the system is operating near the sliding plane. The transient performance as well as the robustness property will not be affected and zero steady-state error is ensured. Mathematical derivation of the algorithm is detailed. This algorithm is applied to a non-linear system with parameter uncertainties and a car-pole inverted pendulum to show its ability and merits.
|Number of pages||11|
|Publication status||Published - 26 Aug 1998|
ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Mechanical Engineering