A chattering elimination algorithm for sliding mode control of uncertain non-linear systems

L. K. Wong, Hung Fat Frank Leung, P. K S Tam

Research output: Journal article publicationJournal articleAcademic researchpeer-review

35 Citations (Scopus)


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.
Original languageEnglish
Pages (from-to)765-775
Number of pages11
Issue number7
Publication statusPublished - 26 Aug 1998

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering

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