| Abstract |
This paper presents analysis of the chattering
and a new approach of the chattering suppression. The
chattering caused by the unmodeled dynamics is discussed
and analyzed by the Lyapunov method and the describing
function approach. It is shown that the amplitude of chattering
depends on the magnitude of discontinuous control.
To reduce the chattering, new sliding mode control design
is proposed using the methods of changing switching gain
along the system states or the magnitude of equivalent
control. To support the methods, simulation results are
provided. |
