The design of chattering alleviated sliding mode control using wavelet approach

A generalized saturation function has been formulated and applied to a sliding mode controller in order to redesign continuous approximation method. Also, this paper import a wavelet approach to help building suitable boundary layer thickness Φ with a pre-specified switching gain and sampling time in discrete time. Through using wavelet approach, one can determine the boundary layer thickness Φ without trial and error or much complicated algorithm, the sliding mode with continuous approximation can not only provide a significant reduction of chatters but save the excessive control effort. Simulation results have shown its efficiency further.