Nonsmooth sliding mode control for a class of Lagrange motion control systems

For motion control of a class of Lagrange systems, a new sliding mode control design method is proposed to achieve more flexibility in the design procedure. Based on the global contingent cone condition, the design method constructs the converging law of the sliding mode controller with a linear Lipschitz switching surface. Such a nonsmooth sliding surface improves the flexibility, which the variable sliding motion can be obtained on the different area of the sliding surface, such that it can satisfy more complicated design requirements. With the simulation of a class of 2DOF manipulator system, the results show the effectiveness of the design.