CONTROLLER-DESIGN FOR A CLASS OF NONLINEAR MULTIINPUT SYSTEMS USING MODIFIED SLIDING MODE

A modified sliding mode controller with continuous switching is propos ed for a class of nonlinear multi-input systems. The control design co nsists of first choosing a set of suitable sliding sectors, instead of conventional sliding surfaces, then constructing a continuous switchi ng controller. It is shown that the global attractiveness and stabilit y of the sliding sectors are guaranteed with the continuous switching control strategy. while retaining the robustness property of general s liding mode control, the modified sliding mode controller provides muc h smoother control signals. Trajectory control of a two-link robot and set point control of a nonlinear two-input system are investigated to show the effectiveness of the new method.