Design of variable structure controllers with continuous switching control

Abstract

A modified variable structure controller is proposed to deal with the control chattering problem which is one of the major difficulties for implementing the variable structure control (VSC). The new control strategy is effective for a class of uncertain nonlinear dynamical systems. Based on a suitably designed sliding sector, a continuous switching controller whose control structure is switched, whereas the control signal at switching remains continuous, is constructed. The complete attractiveness and the stability properties of the sliding sector, in the sense of Lyapunov stability, ensure the retention of benefits achieved with the conventional VSC. Some typical examples are also investigated which show the improvement of system performance.