The effective application of sliding mode control to mechanical systems is not straightforward because of the sensitivity of these systems to chattering. Higher-order sliding modes can counteract this phenomenon by confining the switching control to the higher derivatives of the mechanical control variable, so that the latter results are continuous. Generally, this approach requires the availability of a number of time derivatives of the sliding variable, and, in the presence of noise, this requirement could be a practical limitation. A class of second-order sliding mode controllers, guaranteeing finite-time convergence for systems with relative degree two between the sliding variable and the switching control, could be helpful both in reducing the number of differentiator stages in the controller and in dealing with unmodelled actuator dynamics. In this paper different second-order sliding mode controllers, previously presented in the literature, are shown to belong to the above cited class, and some cha...

A survey of applications of second-order sliding mode control to mechanical systems

An universal controller is constructed, formulated in input-output terms only, which causes the output of any uncertain smooth single-input single-output (SISO) minimum-phase dynamic system with known relative degree to vanish in finite time. This allows exact tracking of arbitrary real-time smooth signals. Only one parameter is to be adjusted. Since the approach is based on higher order finite time-convergence sliding modes, the control can be made arbitrarily smooth, providing for the arbitrarily-high tracking-accuracy order with respect to the sampling step.

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Universal single-input-single-output (SISO) sliding-mode controllers with finite-time convergence

Sliding mode observers have unique properties, in that the ability to generate a sliding motion on the error between the measured plant output and the output of the observer ensures that a sliding mode observer produces a set of state estimates that are precisely commensurate with the actual output of the plant. It is also the case that analysis of the average value of the applied observer injection signal, the so-called equivalent injection signal, contains useful information about the mismatch between the model used to define the observer and the actual plant. These unique properties, coupled with the fact that the discontinuous injection signals which were perceived as problematic for many control applications have no disadvantages for software-based observer frameworks, have generated a ground swell of interest in sliding mode observer methods in recent years. This article presents an overview of both linear and non-linear sliding mode observer paradigms. The use of the equivalent injection signal in problems relating to fault detection and condition monitoring is demonstrated. A number of application specific results are also described. The literature in the area is presented and qualified in the context of continuing developments in the broad areas of the theory and application of sliding mode observers.

Sliding mode observers: a survey

This paper presents a comprehensive overview of the application of Variable Structure Systems (VSSs) with Sliding Mode (SM) methods in motion control systems. Our aim is to give implementable sliding mode design solutions for complex motion systems, actuators and supply converters. This paper provides a frame for further study of sliding mode applications in motion control systems.

Variable Structure Systems With Sliding Modes in Motion Control—A Survey

Terminal sliding mode control for the trajectory tracking of underactuated Autonomous Underwater Vehicles

Sliding sector for variable structure system- On discrete variable structure control with switching sector- Variable structure control of nonlinear sampled data systems by second order sliding modes- On sampled data variable structure control systems- Sliding mode control of systems with delayed states and controls- On global stabilization of nonlinear dynamical systems- A general canonical form for sliding mode control of nonlinear systems- Handling stiction with variable structure control- Equivalent value filters in disturbance estimation and state observation- Sliding mode control of a car-like mobile robot using single-track dynamic model- Park vector based sliding mode control of UPS with unbalanced and nonlinear load- Dynamical adaptive sliding mode control of observable minimum-phase uncertain nonlinear systems- Symbolic computing tools for nonsmooth dynamics and control- Sliding mode control with gain scheduled hyperplane for LPV plant- A study on parameterized output feedback sliding mode controller- Sliding mode tracking control of systems with unstable zero dynamics- On second order sliding mode controllers- A tale of two discontinuities- The problem of chattering: an averaging approach

U. Ozguener

Papers

Variable Structure Systems, Sliding Mode and Nonlinear Control