Some Remarks on the Boundedness and Convergence Properties of Smooth Sliding Mode Controllers

作     者：Wallace Moreira Bessa 

作者机构：Federal University of Rio Grande do NorteDepartment of Mechanical Engineering 

出 版 物：《International Journal of Automation and computing》 (国际自动化与计算杂志（英文版）)

年 卷 期：2009年第6卷第2期

页      面：154-158页

核心收录：

学科分类：08[工学] 0802[工学-机械工程] 081101[工学-控制理论与控制工程] 0701[理学-数学] 0811[工学-控制科学与工程] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：supported by FAPERJ–State of Rio de JaneiroResearch Foundation (No. E-26/170.086/2006) 

主　　题：Convergence analysis Lyapunov methods nonlinear control sliding mode. 

摘      要：Conventional sliding mode controllers are based on the assumption of switching control, but a well-known drawback of such controllers is the chattering phenomenon. To overcome the undesirable chattering effects, the discontinuity in the control law can be smoothed out in a thin boundary layer neighboring the switching surface. In this paper, rigorous proofs of the boundedness and convergence properties of smooth sliding mode controllers are presented. This result corrects flawed conclusions previously reached in the literature. An illustrative example is also presented in order to confirm the convergence of the tracking error vector to the defined bounded region.