Sliding Mode Control under State and Control Constraints

In this paper, we propose a method of continuous-time sliding mode control(SMC) system design so as not to violate state and control constraints. To circumvent chattering problem, we use continuous control law. And, we employ the inner approximation of maximal admissible set for a nonlinear continuous-time system to guarantee the satisfaction of constraints. This approach has the advantages that it is robust over initial state error and that save the on-line computing time required to inclusion check of maximal admissible sets. Moreover, we propose a control strategy of switching "sliding" hyperplanes to achieve better performance.