Lyapunov Stability Analysis of Second-Order Sliding-Mode Control and Its Application to Chattering Reduction Design

다국어 초록 (Multilingual Abstract)

This paper proposes a new sliding mode control design with reduced control chattering. The proposednew design inherits the design concept from dynamic sliding mode control, in which the first-order time derivativeof the control input is treated as the control variable for a chattering control design. Previous dynamic sliding modedesigns require an extra uncertainty observer or uncertainty estimator to construct the sliding surface. This paper isable to waive such observer or estimator.

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