Sliding Mode Variable Structure Control Based on Particle Swarm Optimization

A new intelligent sliding mode variable structure control for a class of non-linear systems is proposed. The parameters of switching function and exponential reaching law are optimized adaptively by the particle swarm optimization algorithm, which preferably solves the contradiction between favorable quality and high frequency chattering in conventional sliding mode variable structure control. Not only better dynamics and strong robustness are assured, but also the chattering is eliminated. The proposed scheme is applied to the inverted pendulum system and simulation results prove it is effective.