Analysis of chattering in continuous sliding-mode controllers

Author

Boiko, I. ; Fridman, L.

Author_Institution

SNC-Lavalin, Calgary, Alta., Canada

Volume

50

Issue

9

fYear

2005

Firstpage

1442

Lastpage

1446

Abstract

An analysis of two most popular continuous sliding-mode algorithms: The power-fractional sliding-mode algorithm and a second-order sliding-mode algorithm known as the super-twisting is carried out in the frequency domain with the use of the describing function method. It is shown that in the presence of an actuator, the transient process converges to a periodic motion. Parameters of this periodic motion are analyzed. A few examples are considered to illustrate the obtained results.

Keywords

control nonlinearities; describing functions; relay control; variable structure systems; actuator; chattering analysis; continuous sliding-mode controller; describing function method; frequency domain; periodic motion; power-fractional sliding-mode algorithm; relay control; second-order sliding-mode algorithm; super-twisting; transient process; variable structure system; Actuators; Algorithm design and analysis; Control systems; Convergence; Frequency domain analysis; Gain; Motion analysis; Relays; Samarium; Sliding mode control; Chattering; relay control; sliding-mode (SM); variable structure systems;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/TAC.2005.854655

Filename

1506959