チャタリングフリースライディングモードコントロール

抄録

In this paper, the sliding mode control (SMC) of the systems linear with respect to control is presented. The controller is designed to have continuous control to eliminate chattering and to provide sliding mode motion on the selected manifolds in the state space. These manifolds are selected as a linear combination of the state coordinates. Control is selected to satisfy selected Lyapunov function and stability criteria.