The quasi sliding mode control with varying boundary layers for a trolley inverted pendulum system

A new sliding mode control approach with varying boundary layers is proposed. The key feature of the proposed control scheme is using varying boundary layers instead of fixed boundary, which are usually employed in conventional sliding mode control. Although the conventional quasi sliding mode control can solve the chattering problem partly, the stability of the system is affected. By incorporating the varying boundary layers into the switching function, the sliding mode controller guarantees the asymptotical stability of the system while weakening the chattering effectively. The proposed method is used to control a trolley inverted pendulum. Simulation results show that the sliding mode controller with varying boundary layers can improve the control performance with negligible chattering and enhance the robustness of the system, compared with a conventional quasi sliding mode controller.