On chattering-free sliding-mode control

Lela Dorel*, Arie Levant

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review


High-Order Sliding Mode (HOSM) control was originally proposed to overcome the dangerous chattering effect. The idea is to treat the time derivative of the actual control as a new control artificially raising the relative degree of the sliding variable. The resulting HOSM features finite-time stability, ultimate accuracy of sliding mode, and smooth control. Unfortunately, due to the interaction between the control and its derivative, the convergence to the HOSM is only ensured, if the initial values of the successive sliding-variable derivatives are small enough. It is proved in the paper that under mild conditions that restriction is removed. Output-feedback controllers are constructed. Computer simulation confirms the applicability of the approach.

Original languageEnglish
Title of host publicationProceedings of the 47th IEEE Conference on Decision and Control, CDC 2008
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Print)9781424431243
StatePublished - 2008
Event47th IEEE Conference on Decision and Control, CDC 2008 - Cancun, Mexico
Duration: 9 Dec 200811 Dec 2008

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0743-1546
ISSN (Electronic)2576-2370


Conference47th IEEE Conference on Decision and Control, CDC 2008


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