A Novel Design of Chattering-free Sliding Mode Control for a Nonlinear Dynamic System

The paper presents a novel design of full-order sliding mode control to eliminate completely chattering problems for nonlinear dynamic systems in the presence of inaccuracy modeling and disturbance. The research starts with a new proposal of sliding condition from a statement that values of a positive definition function of ”squared distance ” to the surface decreases along all system trajectories, then trajectories are constrained to point towards the surface. Based on the new sliding condition, a new continuous sliding controller is proposed to avoid including discontinuous or high-frequency signals in control system design. Theorems on chattering-free full-order sliding mode control is presented and proved to show how a proposed sliding controller satisfies the sliding condition and achieves control objectives by using the Lyapunov’s design approach. Numerical simulation of benchmark examples is investigated for verifying performance and robust stability and also compared to the traditional SMC to show advances of the proposed method.