Regularization of non-overshooting quasi-continuous sliding mode control for chattering suppression at equilibrium

TL;DR

This paper introduces a regularization method for non-overshooting quasi-continuous sliding mode control to effectively suppress chattering at equilibrium, enhancing practical robustness for second-order systems.

Contribution

It proposes a novel regularization scheme that reduces chattering in sliding mode control, supported by ISS and iISS stability proofs and numerical validation.

Findings

Chattering is effectively suppressed at the equilibrium point.

The regularization scheme maintains robustness and finite-time convergence.

Numerical results confirm improved practical applicability.

Abstract

Robust finite-time feedback controller introduced for the second-order systems in [1] can be seen as a non-overshooting quasi-continuous sliding mode control. The paper proposes a regularization scheme to suppress inherent chattering due to discontinuity of the control [1] in the origin, in favor of practical applications. A detailed analysis with ISS and iISS proofs are provided along with supporting numerical results.