A remark on the boundedness and convergence properties of smooth sliding mode controllers

Details A remark on the boundedness and convergence properties of smooth sliding mode controllers A remark on the boundedness and convergence properties of smooth sliding mode controllers

2008-02-21

arxiv.org/abs/0802.2978v3

Mathematics

Optimization and Control

8 pages, 2 figures, corrected proof

Scientific paper

Conventional sliding mode controllers are based on the assumption of switching control but a well-known drawback of this approach is the chattering phenomenon. To overcome the undesirable chattering effects, the discontinuity in the control law can be smoothed out in a thin boundary layer neighboring the switching surface. In this work, rigorous proofs of the boundedness and convergence properties of smooth sliding mode controllers are presented. This result corrects flawed conclusions previously reached in the literature.

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