Higher Order Sliding Mode

Control
M. Khalid Khan
Control & Instrumentation group
Department of Engineering
References
1. Levant, A.: Sliding order and sliding accuracy in
sliding mode control, Int. J. Control, 1993,58(6)
pp.1247-1263.
2. Bartolini et al.: Output tracking control of uncertain
nonlinear second order systems, Automatica, 1997,
33(12) pp.2203-2212.
3. H. Sira-ranirez, On the sliding mode control of
nonlinear systems, Syst.Contr.Lett.1992(19) pp.303-312
4. M.K. Khan et al.: Robust speed control of an
automotive engine using second order sliding modes,
In proc. of ECC2001.
Review: Sliding Mode Control
Design consists of two steps
Selection of sliding surface
Making sliding surface attractive
Consider a NL system
u x t g x t f x ) , ( ) , ( + =

0 ) , ( = = x t s s
Robustness Chattering
High frequency
switching of control
Pros and cons
Order reduction Full state availability
Robust to matched
uncertainties
Simple to implement
Chattering at actuator
Sliding error = O()
Isnt it
restrictive?
Sliding variable
must have relative
degree one w.r.t.
control.

Higher Order Sliding Modes
r
th
-order sliding mode:- motion in r
th
-
order sliding set. Sliding variable (s) has
relative degree r
r
th
-order sliding set: -

0
) 2 ( ) 1 (
= = = = = =

s s s s s
r r

Consider a NL system
) , , ( u x t f x =

Sliding surface
0 ) , ( = = x t s s
But
What about
reachability
condition?
So traditional sliding
mode control is now
1
st
order sliding
mode control!
There is no generalised higher order
reachability condition available
1-sliding vs 2-sliding
s
ds
2-sliding

2
s
ds
1-sliding

Sliding error = O() Sliding error = O(
2
)
Sliding variable dynamics
Selected sliding variable, s, will have
relative degree, p= 1 relative degree, p > 2
1-sliding design is
possible.
2-sliding design is done
to avoid chattering.
r-sliding (r > p) is the
suitable choice.
2-sliding algorithms: examples
Consider system represented in sliding variable as
, , | | ; ) , , ( ) , , (
M m
u s s t s s t s I s s I u s + = | |

Finite time converging 2-sliding twisting algorithm
0
S s s
Sliding set:
0 = = s s

s
>
=
0 ) (
0 ) (
) (
s s s sign V
s s s sign V
t u
M
M

o
o < 1
Pendulum
The model:
u y y + = ) sin( 25 . 0

Sliding variable:
y y s + =

Sliding variable dynamics:
u y y s + + =

) sin( 25 . 0
u u y y y s

+ + = ) sin( 25 . 0 ) cos( 25 . 0
Twisting Controller coefficients: = 0.1, V
M
= 7

Simulation
Examples continue
Consider a system of the type
0
, , | | ; ) , ( ) , ( S s u s t s t s
M m
s I s s I u s + = | |

Finite time 2-sliding super-twisting algorithm

s
>
=
+ =
0
0
1
1
| | ) ( sign
| |
) ( sign | | ) (
u u s W
u u ku
u
u s s t u

0 = = s s
Sliding set:
Review: 2-sliding algorithms
Twisting algorithm forces sliding
variable (s) of relative degree 2 in to the
2-sliding set but uses
s

Super Twisting algorithm do not uses

but sliding variable (s) has relative degree
only one.
s

Is it possible to stabilise sliding surface with relative

degree 2 in to 2-sliding set using only s, not its
derivative?
Answer: yes!
1. by designing observer
2. using modified super-twisting algorithm.
Question:
Modified super-twisting algorithm

s
>
=
+ =
0
0
1
1
| | ) ( sign
| |
) ( sign ) (
u u s W
u u ku
u
u s t u

0
, , | | ; ) , , ( ) , , ( S s u s s t s s t s
M m
s I s s I u s + = | |

System type:
Where , u
0
, k and W are
positive design constants
1. Sinusoidal oscillations for = u
0
2. Unstable for

< u
0
3.

Stable for > u
0
Phase plot
Sufficient conditions
for stability
0 , 0
/
0
> >
I u > >
W k
u
m

Application: Anti-lock Brake

System (ABS)
ABS model:
u
k x
x
x
J J
N R
x
R M
N N
x
M
R
x
b
w w
v w
w v
w v
v
w
t t


+ =
+ =
+ =
3
3
3 2
2
1
1
) (
) ( 595 . 0
1

2
3
1 5 1 4
4
3
2
1 2
1 1
1
1
25 . 0
1
|
|
.
|

\
|
+ +
+
+
=
x k x k
x k x k
x k
k
b
2 2
) (



+
=
p
p p
( )
) , max(
2 1
1 2
x x
x x
=
u g f ) ( ) ( + =

Can be written as:
12 . 0 =
desired

Simulation Results
Controller coefficients:
15 W , 35 , 75
0
= = = = k u
Results continued
Conclusions
The restriction over choice of sliding variable can
be relaxed by HOSM.
HOSM can be used to avoid chattering
A new 2-sliding algorithm which uses only sliding
variable s (not its derivative) has been presented
together with sufficient conditions for stability.
The algorithm has been applied to ABS system
and simulation results presented
Future Work
The algo can be extended for MIMO systems.
Possibility of selecting control dependent
sliding surfaces is to be investigated.
Stability results are local, need to find global
results.