Title :
Analysis of chattering in continuous sliding-mode controllers
Author :
Boiko, I. ; Fridman, L.
Author_Institution :
SNC-Lavalin, Calgary, Alta., Canada
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;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.2005.854655
