Chattering free discrete time sliding mode control
To avoid the chattering problem in the reaching law based discrete time sliding mode control (DSMC) and the generation of over large control action in the equivalent control based DSMC, a new DSMC method based on non smooth control is proposed in this paper. Since there is no use of any switching term in the proposed DSMC, it is a chattering free SMC method. Meanwhile, it is shown that the newly proposed non smooth control based DSMC can guarantee the same level of accuracy for the sliding mode motion as that of an equivalent control based DSMC. To demonstrate the effectiveness of the proposed approach, a simulation example is presented.
Autom.