An Intelligent Terminal Sliding Mode Control Algorithm with Chattering Reduction Based on Particle Swarm Optimization

Abstract

In order to solve the chattering problem of sliding mode controller, an intelligent terminal sliding mode control algorithm based on particle swarm optimization is proposed. The terminal sliding mode surface is used to ensure that the error converges within finite time on the sliding surface. The control law is divided into two parts, which are the equivalent control item and the auxiliary control item. The equivalent control item is calculated by the nominal model of the system, while the auxiliary control item is calculated by using the particle swarm optimization with adaptive weight. The appropriate performance index is designed to ensure that the sliding mode variable gradually converges to zero and eliminate the controller output chattering. Finally, the method proposed is applied to the control problem of inverted pendulum device. The results show the advantages of method proposed when compared to the traditional terminal sliding mode control with the same uncertainties.