An incremental sliding mode controller (ISMC) for chattering reduction

Abstract

An incremental control action sliding mode controller (ISMC) is presented in the current work to solve the chattering characteristic of sliding mode controller (SMC). The design of the ISMC controller takes into account critical parameters that are usually discarded in the design of the SMC. These parameters are the time constant of the actuator, the step size of the real time solver, previous state information of the system, previous control action and the maximum jerk of the plant. The main advantage of this novel controller is the significant reduction of the chattering in the control action. The incremental control action sliding mode controller is compared to the traditional sliding mode controller and the advantages of the former will be highlighted through the simulations of the benchmark control problem of the automobile electronic throttle.