Chattering attenuation in sliding mode control systems (Q2731428)

A tracking control problem is studied for a class of uncertain nonlinear single-input control systems. Two sliding mode control strategies without reaching phase (which drive the tracking error of the corresponding system to zero) are proposed for attenuation of the chattering. Both strategies use an auxiliary continuous control signal, which partly compensates the unknown disturbances. This signal is generated by an integrator (for the first strategy) or by a low-pass filter (for the second strategy) according to the equivalent value of the discontinuous control term. A simulation example illustrates the performance of the proposed strategies.