In the conventional sliding mode control, a discontinuous control signal is applied to achieve the sliding condition. This control makes the system invariant to parametric uncertainty and external disturbance, but also causes chattering. Modified approaches are introduced to eliminate chattering at the cost of the invariance property or accuracy. This paper describes the use of the concept of extended systems, such that a continuous control is obtained using a sliding mode control design scheme. A sliding surface is assigned so that the sliding mode motion will occur while the proposed control law is applied. This results in a system with global invariance.
SlotineJ. J.SastryS. S.Tracking control of nonlinear systems using sliding surfaces with application to robot manipulatorsInt. J. Control, 1983, 38, 465–492.
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TsoS. K.LawP. L.Design and performance studies of model-based variable-structure adaptive controllers for industrial manipulatorsProc. Instn Mech. Engrs, Part I, 1992, 206 (I4), 245–262.
