Sliding mode control, an algorithm known for its stability and robustness, has been widely used in designing robot controllers. Such controllers inevitably exhibit chattering; numerous methods have proposed to deal with this problem the past decade. However, most scenarios, ensuring that specified form parameters selected are optimal system is challenging. In work, reinforcement-learning method...

In spark ignition (SI) engines, the accurate control of air fuel ratio (AFR) in the stoichiometric value is required to reduce emission and fuel consumption. The wide operating range, the inherent nonlinearities and the modeling uncertainties of the engine system are the main difficulties arising in the design of AFR controller. In this paper, an optimization-based nonlinear control law is a...

This paper presents a guide to sliding mode control for practicing control engineers. It offers an accurate assessment of the so-called chattering phenomenon, catalogs implementable sliding mode control design solutions, and provides a frame of reference for future sliding mode control research.

This paper describes the design of a novel sliding mode controller for tracking of robotic manipulators. By using a proportional-integral combination of the sliding function in the boundary layer, control chattering is eliminated without deterioration of system robustness. Theoretical developments are verified by simulation results for the tracking problem of a 2 DOF robotic manipulator.

A hybrid nonlinear differentiator being fit for rapid convergence is presented, which is based on singular perturbation technique and consists of linear and nonlinear parts. This differentiator is simple and can converge rapidly at all times, and no chattering phenomena happen. The theoretical results are confirmed by computer simulations and an experiment.

This paper presents a brief study on the design and performance comparison of conventional first-order and super-twisting second-order sliding mode observers for some nonlinear control systems. Estimation accuracy, fast response, chattering effect, peaking phenomenon and robustness are considered for nonlinear systems under observer-based output feedback control and state feedback control.