Road Map for Sliding Mode Control Design

Abstract

translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission or information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed. The use of general descriptive names, registered names, trademarks, service marks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. The publisher, the authors and the editors are safe to assume that the advice and information in this book are believed to be true and accurate at the date of publication. Neither the publisher nor the authors or the editors give a warranty, expressed or implied, with respect to the material contained herein or for any errors or omissions that may have been made. The publisher remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Adaptive Integral-Type Terminal Sliding Mode Tracker Based on Active Disturbance Rejection for Uncertain Nonlinear Robotic Systems With Input Saturation

“…It offers advantages such as good tracking performance, fast response, robustness against external disturbances and uncertainties, and suitable transient response [23][24][25]. However, a major drawback of this approach are the high-frequency finite amplitude oscillations or chattering phenomena [26]. Some solutions have been already investigated such as use of hyperbolic tangent and saturation instead of sign function [27,28] or the use of rigid body assumption.…”

A new actuator fault‐tolerant control for Lipschitz nonlinear system using adaptive sliding mode control strategy

“…Among the various high‐level controllers, sliding mode control (SMC) is an effective robust technique and is widely used within the FTC framework. SMC technique provides insensitivity against the model disturbance/uncertainty in the sliding phase 20 . Therefore, the integration of SMC with the CA scheme not only enhances the capability of handling the actuator failure issue but also provides robustness against model disturbance/uncertainties.…”

“…In SMC/ISMC schemes, the main hurdle in practical implementation is high gain associated with discontinuous control that results in chattering. To cope with higher gain, the authors in References 20,27, and 28 proposed adaptive SMC/ISMC schemes in which sliding gain varies proportionally to the disturbance/uncertainty effect. The adaptive‐ISMC based CA scheme is also proposed recently in References 25 and 29 to deal with the actuator's faults and failures.…”

Second‐order terminal sliding mode control based on perturbation estimation for nanopositioning stage

“…Such undesirable oscillations degrade the system performance and significantly reduce the life span of the moving mechanical parts (i.e. actuators) [9]. In order to address the chattering phenomena in terms of its effect and treatment methods, considerable efforts have been done in the literature [10].…”