Abstract
The use of a boundary layer in sliding-mode control has been a common technique to reduce chattering of the control signal. However, different choices of the boundary layer width lead to conflicting effects: a large/small boundary layer width can more/less effectively alleviate the chattering phenomenon, but leads to less/more accurate control results. This note proposes online adjusting the width of the boundary layer based on the state norm for an uncertain linear system. The proposed state-dependent boundary layer design can effectively eliminate chattering while at the same time ensuring almost perfect control accuracy.
Original language | English |
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Pages (from-to) | 1677-1681 |
Number of pages | 5 |
Journal | IEEE Transactions on Automatic Control |
Volume | 47 |
Issue number | 10 |
DOIs | |
State | Published - Oct 2002 |
Keywords
- Boundary layer control
- Chattering
- Control Accuracy
- Sliding mode control
- Variable structure system