Aiming at the inaccurately modeling and some uncertain existing in servo system seriously affected the control quality and the instability problem, sliding mode control algorithm with improved reaching law is proposed in this paper. The improved reaching law is used to weaken the chattering problem existing in the sliding mode control. Also the kalman filter is used to inhibit the interference,...

An improved sliding mode observer is presented to estimate the rotor position of the permanent magnet synchronous motors (PMSMs). In this observer, the discontinuous control is replaced by using the sigmoid function in order to reduce the chattering problem commonly found in the conventional sliding mode observer. When the chattering is reduced, the back emf can be obtained directly from the sw...

In this paper, we study the minimum time planar tilting maneuver of a spacecraft, from the theoretical as well as from the numerical point of view, with a particular focus on the chattering phenomenon. We prove that there exist optimal chattering arcs when a singular junction occurs. Our study is based on the Pontryagin Maximum Principle and on results by M.I. Zelikin and V.F. Borisov. We give ...

Abstract: In this paper, a continuous finite-time-convergent differentiator is presented based on a strong Lyapunov function. The continuous differentiator can reduce chattering phenomenon sufficiently than normal sliding mode differentiator, and the outputs of signal tracking and derivative estimation are all smooth. Frequency analysis is applied to compare the continuous differentiator with s...

This paper considers dynamical systems that are derived from mechanical systems with impacts. In particular we will focus on chattering— accumulation of impacts—for which local discontinuity mappings will be derived. We will first show how to use these mappings in simulation schemes, and secondly how the mappings are used to calculate the stability of limit cycles with chattering by solving the...

In this paper, an algorithm for the sliding mode control of typical nonlinear systems is proposed. It is based on speed/distance relation during the reaching phase and the state velocity versus state variable relation of 2nd-order nonlinear systems. A new speed control relationship in the reaching phase is developed. The result shows that such relationship performs better than similar ones, and...

Abstract— In this paper a robust chattering free backstepping sliding mode controller is developed for the attitude stabilization and trajectory tracking control of quadrotor helicopter with external disturbances. The control scheme is developed based on backstepping technique and a sliding surface is introduced in the final stage of the algorithm. To attenuate the chattering problem caused by ...

This paper presents a sliding mode filter for removing noise. It effectively removes impulsive noise and high-frequency noise with producing smaller phase lag than linear filters. In addition, it is less prone to overshoot than previous sliding mode filters and it does not produce chattering. It is computationally inexpensive, and thus suitable for realtime applications. The proposed sliding mo...

In this paper, a strategy involving the combination of optimal discrete-time sliding-mode control and recurrent neural networks is proposed for class uncertain linear systems. First, performance index based on reaching law signal defined. Then, constrained quadratic programming problem formulated considering limitations as static constraint. The dynamic algebraic model network derived optimizat...

In the conventional sliding mode control, a discontinuous switching control signal is applied. It makes the system invariant to parametric uncertainty and external disturbance, but also causes actuator chattering. This paper considers a tracking control of robot manipulators using a dynamic sliding mode control, where a global invariance is achieved and the resulting control signal is chatterin...