Switching reaching law based switched sliding mode control

摘要

In this paper, the switching reaching law (SRL) based switched sliding mode control (SSMC), which allows control performance enhancement, is proposed. Such a control approach, using a new reaching law-SRL, enhances the control performance by switching among appropriate sliding mode controllers according to different control demands in different regions of the state space. It is demonstrated that the proposed control method provides global high reaching speed, invariance to uncertainties, and effective chattering reduction, and has no contradiction between increasing reaching speed and reducing chattering. Simulation studies are presented to validate the effectiveness of the proposed approach.