Sliding Mode Control Strategies and Applications

Elisabetta Punta (CNR-IEIIT)

Abstract.
An overview of sliding mode control will be introduced. First order sliding mode methods and second order sliding mode control algorithms will be presented along with their specific features. The main concepts of sliding mode will be briefly discussed, including discontinuous control, Filippov’s definition of solution, sliding surface, Utkin’s definition of the equivalent control, chattering phenomenon and uncertainty. The accuracy provided by the different sliding mode controllers will be considered.
Sliding mode control of multi-input nonlinear uncertain systems will be introduced together with the crucial role played by the matrix multiplying the control inputs vector in the dynamic equation of the sliding output. The simplex-based sliding mode control method will also be considered. Applications and experimental results will be presented to illustrate the properties of the main sliding mode algorithms and strategies.