TY - GEN

T1 - On chattering-free sliding-mode control

AU - Dorel, Lela

AU - Levant, Arie

PY - 2008

Y1 - 2008

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=62949186715&partnerID=8YFLogxK

U2 - 10.1109/CDC.2008.4739126

DO - 10.1109/CDC.2008.4739126

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AN - SCOPUS:62949186715

SN - 9781424431243

T3 - Proceedings of the IEEE Conference on Decision and Control

SP - 2196

EP - 2201

BT - Proceedings of the 47th IEEE Conference on Decision and Control, CDC 2008

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 47th IEEE Conference on Decision and Control, CDC 2008

Y2 - 9 December 2008 through 11 December 2008

ER -