This paper discusses a new design of chattering reduction for sliding mode control. Conventionally, a boundary layer around the sliding surface is used to achieve smooth control signals. However, the boundary layer design become in-effective in chattering reduction when there is high-level measurement noise. To solve this problem, this paper proposes a dynamic sliding mode control, which, with ...

For the present paper, we developed an output feedback chattering position regulator for n-degreesof-freedom (DOF) robot manipulators with elastic and frictional joints. A stability analysis of the closed-loop dynamic system in question was developed within the framework of Lyapunov functions. Performance issues related to the chattering regulator are illustrated in numerical simulations and ex...

The motor control system of unmanned aerial vehicle (UAV) will be affected by the environment during its operation, which has certain nonlinear characteristics. sliding mode variable structure method is proposed in this paper. Through pre design parameters and modes, influence interference, parameter changes, temperature other factors on reduced, power factor, precision working efficiency are i...

Mobile computer users often have a false sense of anonymity when they connect to the Internet at cafes, hotels, airports or other public places. In this paper, we analyze information leaked by mobile computers to the local access link when they are outside their home domain. While most application data can be encrypted, there is no similar protection for signaling messages in the lower layers o...

Chattering is undesirable phenomenon when dealing with sliding mode control. This paper proposed a new method for addressing chattering with a simple and easy implementation in Digital Signal Processor (DSP). This is realized by replacing the discontinuous function in conventional sliding mode control with statedependent auto-tuning of boundary layer in fast sigmoid function and state-dependent...

Sliding control guarantees system performance in the presence of modeling uncertainties and parameter inaccuracies. However this is obtained at the price of high control activity that may exacerbate chattering. As one way to alleviate this problem a continuation method using boundary layer around switching is usually used. In this case selecting the control bandwidth and boundary layer thicknes...

We consider hybrid systems of differential-algebraic equations and present a general framework for general nonlinear overand underdetermined hybrid systems that allows the analysis of existence and uniqueness and the application of index reduction methods for hybrid differential-algebraic systems. A particular difficulty in the numerical simulation of hybrid systems is (numerical) chattering, i...

A sliding mode control method is presented for linear multi-variable discrete-time systems, without introducing a discontinuous term to eliminate control chattering. Instead of a strong nonlinear function like switching introducing chattering problem in discrete-time, a linear control is designed around the sliding surface. Although not producing a strong acting control around the sliding surfa...

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 wi...