A control engineer's guide to sliding mode control

Abstract

Abstract-This paper presents a guide to sliding mode control for practicing control engineers. It offers an accurate assessment of the so-called chattering phenomenon, catalogs implementable sliding mode control design solutions, and provides a frame of reference for future sliding mode control research.Index Terms-Discrete-time systems, multivariable systems, nonlinear systems, robustness, sampled data systems, singularly perturbed systems, uncertain systems, variable structure systems.

Design Intelligent Model base Online Tuning Methodology for Nonlinear System

“…To off-line tuning Gradient Descent Optimization theory is introduced. Gradient Descent Optimization (GDO) is one of the evolutionary optimization algorithms in the branch of non intelligence [10][11][12]. This algorithm was inspired by the social movement behavior of the birds in the flock searching for food.…”

“…In GDO, the knowledge of each particle will not be substituted until the particle meets a new position vector with a higher competence value than the currently recorded value in its memory [11][12]. External disturbances influence on tracking trajectory, error rate and torque which result in chattering.…”

“…Controller (control system) is a device which can sense information from linear or nonlinear system (e.g., robot arm) to improve the systems performance and the immune system behavior [11][12][13][14][15][16][17][18][19][20]. In feedback control system considering that there are many disturbances and also variable dynamic parameters something that is really necessary is keeping plant variables close to the desired value.…”

Theoretical Analysis of Friction Compensation Using Sliding Mode Control

“…This discontinuous signum function, though leads to high frequency switching [4]. The states are oscillating about the surface instead of remaining on them which is normally known as chattering [5]. A continuous approximation of the discontinuous signum function is a simple alternative.…”

Nonsingular fast terminal sliding-mode stabilizer for a class of uncertain nonlinear systems based on disturbance observer

“…Due to the e ect of the sliding curve on the stabilization and transient response of the controlled system, the design procedure of the switching curve is the most important subject in the sliding method [14]. SMC utilizes a discontinuous controller to drive the state trajectories to a predesigned switching surface on which the desired performance besides stability of the system can be obtained [15]. Young et al [13] proposed SMC observer scheme with only the discontinuous term being fed back through a suitable gain.…”