Optimal second order sliding mode control for nonlinear uncertain systems.
In this paper, a chattering free optimal second order sliding mode control (OSOSMC) method is proposed to stabilize nonlinear systems affected by uncertainties. The nonlinear optimal control strategy is based on the control Lyapunov function (CLF). For ensuring robustness of the optimal controller in the presence of parametric uncertainty and external disturbances, a sliding mode control scheme is realized by combining an integral and a terminal sliding surface. The resulting second order sliding mode can effectively reduce chattering in the control input. Simulation results confirm the supremacy of the proposed optimal second order sliding mode control over some existing sliding mode controllers in controlling nonlinear systems affected by uncertainty.
Department of Electronics and Electrical Engineering, Indian Institute of Technology Guwahati, Guwahati 781039, India. Electronic address: madhulika@iitg.ac.in.
Madhulika
M
Das
Department of Electronics and Electrical Engineering, Indian Institute of Technology Guwahati, Guwahati 781039, India. Electronic address: chitra@iitg.ernet.in.
Chitralekha
C
Mahanta
Chattering mitigation; Control Lyapunov function; Integral sliding mode; Optimal control; Terminal sliding mode