Robustness Test in Conventional and Integral Sliding Mode Control

Abstract

In this paper, a simulation based study is made to compare the robustness of a conventional sliding mode controller and an integral sliding mode controller. An integral sliding mode controller is designed to ensure robustness from the initial point in the state-space by eliminating the influences of bounded matched uncertainties. Thus, our expectation is that any dynamic variation of bounded matched unknown uncertainties should not affect the performance using an integral sliding mode control, while the same does not apply to a conventional sliding mode control in the reaching phase. A second-order uncertain and perturbed underwater vehicle system is considered with four different bounded disturbances. Simulation results validate the expected higher robustness of an integral sliding mode control over a conventional sliding mode control.