Abstract
This paper considers a continuous sliding mode control for a class of nonlinear systems with uncertainties including both parameter variations and external disturbances. Under the framework of sliding mode and using the upper bounds of the uncertainties, the proposed controller is derived to guarantee the stability of an overall closed-loop system and ensure robustness against modelling errors, parameter uncertainties and external disturbances. As for chattering elimination in sliding mode control, a boundary layer around the sliding surface is used and the continuous control is applied within the boundary. Moreover, an extended schema of a higher-order sliding mode controller is developed in this paper as another solution to avoid the problem of chattering effect. Simulation results demonstrate the efficacy of the proposed control methodology to stabilise an inverted pendulum, which is a standard nonlinear benchmark system. The applicability of the proposed algorithm will be extended, via suitable modifications, to the case of multivariable nonlinear systems with uncertainties of more general type, covering a wide class of processes.
Published Version
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