Observer-Free Sliding Mode Control via Structured Decomposition: a Smooth and Bounded Control Framework

TL;DR

This paper presents a novel observer-free sliding mode control method that simplifies implementation, reduces chattering, and ensures robustness and stability for nonlinear systems without needing state observers.

Contribution

It introduces a structured decomposition-based SMC approach that eliminates the need for observers and derivatives, providing a smooth, bounded control framework.

Findings

Successfully applied to benchmark nonlinear systems.

Demonstrates robustness under noise and disturbances.

Proves stability via Lyapunov analysis.

Abstract

In this paper, we introduce an observer-free sliding mode control (SMC) method based on explicit structural compensation via the decomposition \( s = \alpha - \beta \). The proposed formulation eliminates the need for state observers and higher-order derivatives, reduces chattering, and yields smooth, bounded control signal. Simulation results confirms its robustness and stability on benchmark nonlinear systems (pendulum, Van der Pol, Duffing, and networked systems) under noise, disturbances, and parameter variations. A Lyapunov-based stability proof confirms convergence. This method provides a scalable and practical alternative to traditional SMC, well suited for embedded and distributed environments.