Ali Karami-Mollaee - Tarbiat Modarres University
Vahid Johari-Majd

In this paper, we present a new method for designing continuous sliding mode controller (SMC) with desired error bound and without chattering for nonlinear non-affine systems. This method is a new approach to the boundary layer control that is based on defining a new control input signal, which causes the states of the system attract inside the boundary layer. The proposed design methodology results in removing the chattering and guaranties the tracking error remains within a desired tracking error bound. So the attractive properties of SMC such as invariance and simplicity in design and concept are reserved.

Variable structure control, sliding mode control, chattering, nonlinear control, nonaffine systems