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Variable Gains Sliding Mode Control

Sergio Alvarez-Rodríguez*, Gerardo Flores, and Noé Alcalá Ochoa
International Journal of Control, Automation, and Systems, vol. 17, no. 3, pp.555-564, 2019

Abstract : "In this paper a sliding mode control with variable gains is proposed. Such a controller has chatteringeffect reduction without detriment to the robustness properties of the sliding modes. The key idea behind the control design is that the variable gains magnitude is proportional to the trajectory tracking error magnitude. Also, this design establishes a connection between both the first and the second order sliding modes control. It is demonstrated that the proposed controller does not overestimates disturbances, which significantly reduces the control energy used. Finally, a stability analysis in the sense of Lyapunov is developed to demonstrate finite time convergence to the origin; simulations experiments are carried out to show the effectiveness and robustness of the proposed controller."

Keyword : Chattering-effect, control variable gains, sliding Modes, twisting control.

 
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