HIGH-ORDER SLIDING MODE CONTROL OF NONLINEAR AFFINE CONTROL SYSTEMS

摘要

This paper addresses the high order sliding mode control problem of nonlinear affine systems. By proper input and nonlinear state transformations, the system is first decomposed into two low dimensional subsystems: the linear subsystem involves the switching functions and related derivatives, and the nonlinear subsystem describes the sliding mode motion. A high order sliding mode control law is then developed to achieve high order sliding mode motion with prescribed dynamics. Finally, numerical simulations are performed for the posture model of a two wheel driven nonholonomic mobile robot, and the results show that the proposed approach has considerable potentialities to lessen the chattering of sliding mode control systems.