Analysis of chattering free improved sliding mode control

Abstract

This paper presents a conventional sliding mode control (SMC) and chattering free improved sliding mode control design strategy for nonlinear systems. In this paper, theoretical and mathematical concept of variable structure control (VSC) system and sliding mode control has been discussed. The modelling of conventional sliding mode controller as well as chattering free improved sliding mode controller for sample nonlinear equation and robotic vehicle located underwater, forming a single direction motion is the main motive of this paper. Chattering in conventional sliding mode controller can be easily removed by using continuous function in place of discontinuous sign function. The Lyapunov stability criterion is used for nonlinear system control giving a simple control algorithm. Simulation result depicts the feasibility and satisfactory performance of chattering free improved sliding mode control as compared to conventional sliding mode control.