Higher-Order Sliding-Mode Control for Binary Input by Using Implicit Lyapunov Function

Abstract

We propose a binary input controller for higher-order sliding-mode control. The proposed method extends the continuous controller for higher-order sliding-mode control to applicable for a system with a binary input constraint. Under the binary input constraint, the controller for the system can only use two input such as ±1. We design a binary input controller for the system based on the implicit Lyapunov function method. We also reduce the chattering phenomenon on the sliding hypersurface except on the origin. The reduction mechanism provides strong effect for the chattering reduction under three-valued input constraint ±1 and zero, which is demonstrated in the simulation in this paper.