Modified integral sliding mode controller with saturation function

We propose the method for a system considering the dynamic characteristics of an actuator through use of new design concept of integral sliding mode with saturation function. Sliding mode controller has been used because of robustness against parametric uncertainty and high-frequency unmodeled dynamics if and only if a system accomplishes infinitely fast switching. On the other hand, integral sliding mode controller has the robustness throughout an entire response of the system. However, stationary disturbance causes a chattering phenomenon when using those control methods. Therefore, we design a controller using modified integral sliding mode control method to have robustness against a stationary disturbance without chattering. Numerical simulations are performed for a rotary type UAV with an arm to verify the validity of the proposed control method.