Homogeneous Quasi-Continuous Sliding Mode Control

Abstract

Control under heavy uncertainty conditions is one of the central topics of the modern control theory. The sliding-mode control approach [51, 53, 9] to the problem is based on the exact keeping of a properly chosen constraint by means of high-frequency control switching. Although very robust and accurate, the approach also features certain drawbacks. The standard sliding mode may be implemented only if the relative degree of the constraint is 1, i.e., control has to appear explicitly already in the first total time derivative of the constraint function. Another problem is that the high-frequency control switching may cause dangerous vibrations (the so-called chattering effect) [15, 16, 17].