Sliding mode control based on the time delay estimation

In this paper, a new adaptive type sliding mode controller is presented to avoid the problem of the chattering and the excessive switching gain. The proposed control is based on the time delay estimation used in the time delay control (TDC) presented by Youcef-Toumi (1990, 1992). The sufficient condition for satisfying the reaching condition is presented by the application of Lyapunov direct method. The proposed control can be realized with a sufficiently low switching gain. The numerical examples are shown to confirm the validity of the proposed controller.