7 Dobbiaco2009 2 Bianco

Dept of Electrical and Electronic Eng.
University of Cagliari
Summer School on
ODEs with Discontinuous Right-Hand Side: Theory and Applications
Dobbiaco (BZ) Italy
Sliding Mode Control:

Basic Theory, Advances and Applications
Elio USAI
eusai@diee.unica.it
Dobbiaco Summer School - Dobbiaco (BZ) 22-26 June 2009 1

Lecture 2
Higher Order Sliding Mode Control

in
Variable Structure Systems
Higher Order Sliding Modes in Variable Structure Systems

Control problem statement
Dynamic Higher Order Sliding Mode Control
Terminal Higher Order Sliding Mode Control
Single-Input 2nd Order Sliding Mode Control
Single-Input 3rd Order Sliding Mode Control
Arbitrary Order Sliding Mode Control

L2 HOSM in VSS
Classical sliding mode are characterized by constraining the state evolution
onto a surface of the state space by means of a switching control
x = f ( x, u, t ) x G Rn u Rq
G = {x R n : ( x, t ) = 0} : R n R + R q
When the differential inclusion defining the closed loop dynamics belongs to the
tangential space of the surface G, a 2nd Order Sliding Mode (2-Sliding Mode)
appears
x = f ( x, u, t ) x G2 R n u R q
G2 = {x R n : ( x, t ) = ( x, t ) = 0} : R n R + R q
The 2nd Order Sliding Mode is characterized by a n-2q reduced order dynamics

L2 HOSM in VSS
x2 ( x, t ) = 0
x1 ( x, t ) = 0
x3
( x, t ) = ( x, t ) = 0

The constraint ( x, t ) = 0 depends on the system dynamics as ( x, t ) = f ( x, u, t ) +
x t
L2 HOSM in VSS
Example
x1 = x2
y 1 1 0 x1
x2 = x3 y = 0 1 1 x y = x3 + f ( y , y , w, u, t )

x3 = f ( x, u, t ) 2 w = w + y
w 1 0 0 x3
y = x1 + x2
x2
x2 + x3 = 0
x1 + x2 = 0
x1
x3

L2 HOSM in VSS
The definition of Higher Order Sliding Mode can be extended to a r-order
sliding surface
x = f ( x, u, t ) x Gr R n u Rq
n d ( x, t )
k
Gr = x R : k
= 0, k = 0,1,, r 1 : R n R + R q
dt
is a sufficiently smooth vector function: C r 1

Discontinuity appears in the rth order time derivative of
The overall number of constraints must be less than the system order
n>rq

L2 HOSM in VSS
Definition
Let the r-sliding set G be non-empty and assume that it is locally an integral
r
set in Filippovs sense (i.e. it consists of Filippovs trajectories of the

discontinuous dynamic system). Then the corresponding motion of the
system state belonging to the set G is called r-Sliding Mode (r-SM) with
r
respect to the constraint function .

L2 HOSMC: Problem statement
A HigherOrder Sliding Mode Control (HOSMC) system is implemented
when the control u is able to constrain the system state onto the set G
r
starting from any point in a -vicinity of the set G .

r
Finding a control law such that it is able to enforce a r-SM on a surface in

the state space is a difficult task for generic nonlinear systems
x = f ( x, u, t )
A simpler system dynamics is usually considered

x = f ( x , u, t )
x
x 0
1 0
x0 =
0 + Iq u
u

f ( x , u, x0 ) x + f ( x , u, x0 ) f ( x , u, x0 )
x x x0
u
x = f ( x ) + g ( x ) u
f(x): drift vector function x: state variables vector

g(x): gain matrix function u: control variables vector
Notation
h
h( x ) : R R
n
h( x ) = Gradient vector
x
h1 ( x )
h( x ) : R n R q R p h( x ) = = J h Jacobian matrix

h1 ( x )
h( x ) : R n R Lg h = h ( x ) g ( x )
Lkg h = ( Lkg 1h ) g ( x ) i = 1,2, L0g h = h ( x )
Lie derivatives
g( x ) : R n R n
h( x ) : R R
n p Lg h = h( x ) g ( x ) = J h g ( x )
g( x ) : R n R n Lkg h = ( Lkg 1h ) g ( x ) i = 1,2, L0g h = h( x )

The Higher Order Sliding Mode Control problem is to define a suitable
output function (t) and a proper control law u(t) such that the state
trajectory of the dynamical system
x Rn u Rq
x = f ( x ) + g ( x ) u
f : R n Rn g : R n R n Rq
is constrained onto the r-order sliding surface
n d ( x )
k
Gr = x R : k
= 0, k = 0,1,, r 1 : R n R + R q u Rq
dt
from a time instant t on, possibly in finite time (t

T< ).

Given the control affine system
x Rn u Rq
x = f ( x ) + g ( x ) u
f : R n Rn g : R n R n Rq
A r-order Sliding Mode Control on the surface (x)=0 can be designed if

the following conditions are fulfilled
Lg Lkf = 0 i = 0,2,, r 2 The control does not appear in the first r-1
derivatives of the system output (x)
Lg Lrf 1 has full rank The output variable (x) is completely

controllable by the u(x) control

Several HOSMC algorithms were presented in the literature
Relative Sliding
degree order
Feedback signals VSS controller Main contributors
1 sign ( ) Classical 1-SMC Utkin et al.

1
2 Super-Twisting Emelyanov, Levant
+ { sign ( )} Sub-optimal Bartolini et co-authors
2 2 sign ( ) , sign ( ) Twisting Emelyanov, Levant
, Terminal Zhihong, Yu
3 3 sign ( ), sign ( ) , sign (

) Hybrid 3-VSC Bartolini, Pisano, Usai
, ,..., ( r 2 ) , sign ( ( r 1) ) Universal HOSM Levant

r r
,, r 1
, , Dynamic SM Sira-Ramirez

L2 Dynamic HOSMC
Dynamic Higher Order sliding Mode Control is based on the definition of an
augmented output variable
r 2
s( x ) = ( r 1)
+ ci ( i ) ( x )
i= 0
Coefficients ci are chosen so that the polynomial P(p) has all roots with
negative real part r 2
P( p ) = p r 1
+ ci p i
i= 0
The control u(t) affects the time derivative of s(x), and if it is designed so that
s(x) is stabilized to zero, each output variable s , and its r-1 time derivatives, i
are stabilized to zero asymptotically

L2 Dynamic HOSMC
Theorem.
Consider the system dynamics x = f ( x ) + g ( x ) u
Chose the sliding variable set (x) such that the internal dynamics corresponding
, , ( r 1) is BIBS stable.
to the output variables , ,
Assume that the uncertainties are

bounded by a known function, and
Lkf k ( x) k = 1,2,, r
that the gain matrix of the input-output Lg Lkf = 0 k = 0,1,, r 2
dynamics is definite positive [
0 < m min{eig Lg Lrf 1 } x V , t ]
Define an auxiliary output as a stable r 2
linear combination of the sliding s( x ) = ( r 1)

+ ci ( i ) ( x )
i= 0
variable and its r-1 time derivatives
r 2
The state feedback control law r ( x) + ci i+ 1 ( x) +
assures the asymptotic stability s
u= i= 0
> 0
of the r-SM on the sliding m s2
surface (x)= 0
L2 Dynamic HOSMC
Proof.
r 2
Auxiliary sliding variable dynamics s ( t ) = L +
r
f ci Lif+ 1 + Lg Lrf 1 u( t )
i= 0
1 T
Lyapunov function V ( s) = s s
2
V = T
r 2

( x ) + i = 0 i i+ 1
c ( x ) +
r 2 r
s
= s Lf + ci Lf
T r i+ 1 r 1
Lg Lf
i= 0 m s 2

sT Lg Lrf 1 s s 2 < V < 0
ms2
Once the condition s=0 is fulfilled, each sliding variable motion is characterized
by a asymptotically stable linear dynamics.

L2 Dynamic HOSMC
Dynamic Higher Order Sliding Modes are an extension of the classic 1-SM
The Higher Order Sliding Mode behavior is reached asymptotically
Perfect knowledge of the time derivatives of the sliding variable up to the r-1
order are needed

+ c0 = 0

L2 Terminal 2-SMC
Terminal 2nd-Order sliding Mode Control is based on the properties of finite
time control by means of the definition of an augmented nonlinear output
variable
1 pm
s( x ) = ( x ) +

Coefficients p and m (p>m) are odd numbers so that the motion on the
hyper-surface s=0 in the phase space is characterized by the finite time
reaching of the origin
The control u(t) affects the time derivative of s(x), and if it is designed so that
s(x) is stabilized to zero, each output variable s , and its r-1 time derivatives,
i
are stabilized to zero asymptotically

L2 Terminal 2-SMC
Theorem.
to the output variables , is BIBS stable.
Assume that the uncertainties are L2f 2 ( x )

bounded by a known function and the
gain matrix of the input-output Lg = 0 x V , t
dynamics is definite positive [
L Lr 1 1
g f ]
Define an auxiliary output as a stable 1 pm
nonlinear combination of the sliding s( x ) = ( x ) +

variable and its time derivatives
The state feedback control law
assures the finite time stability [ r 1
u = L L
g f ]
m 2 p m 1
+ ( 2 + ) sgn( s ) > 0
of the 2-SM on the sliding p
surface (x)= 0
L2 Terminal 2-SMC
Proof.
Auxiliary sliding variable dynamics s ( t ) = +

1 p
m
{
2 p m
diag i ( }
L2f + Lg Lf u( t ) )
1 T
Lyapunov function V ( s) = s s
2
V =
1

p T
m
{ p
}
s diag i2 m ( L2f + Lg Lf u( t ) )
=
1

p T
m
s diag i {
2 p m 2
} m 2 p m
Lf

+ ( 2 + ) sgn( s )
p
p T p m 1
s < 0 0
m
sgn( ) = 0

Once the condition s=0 is fulfilled, each sliding variable motion is characterized
by a finite time stable linear dynamics.

L2 Terminal 2-SMC
Terminal 2nd Order Sliding Modes are the multi-variable non-singular
implementation of the prescribed law of variation 2-SMC
The 2nd Order Sliding Mode behavior is reached in finite time

3
+ 3 = 0
5
Perfect knowledge of 1
the first time derivatives

of the sliding variable 0
reaching
order is needed
-1
sliding
-2
-3
-6 -4 -2 0 2 4 6

L2 Single Input 2-SMC
Both dynamic HOSM and terminal 2-SM are implementations of the classical
sliding mode control approach but with a peculiar sliding manifold
Several algorithms that implement a 2nd Order Sliding Mode directly have been
presented in the literature
They are based on peculiar trajectories on the plane
Because of the lack of Lyapunov like methods for proving their finite time stability,
they are usually presented with reference to Single Input systems
x = f ( x ) + g ( x ) u x G Rn u R
G = {x R n : ( x, t ) = 0} : R n R + R

There are two main families of algorithms:
Supertwisting: it is designed for relative degree 1 sliding surface (the control u

appears in the first time derivative of the sliding variable)
The parameter tuning is based on the knowledge of an upper
bound for the time derivative of the drift term
Only the sliding variable has to be available
Sub-Optimal: it is designed for relative degree 2 sliding surface (the control u

appears in the second time derivative of the sliding variable)
The parameter tuning is based on the knowledge of an upper
bound for the time derivative of the drift term and it can be
dynamically set to have global convergence properties
The sliding variable has to be available, and possibly also the

sign of its time derivative
L2 Single Input 2-SMC Sub Optimal
u = ( t )U sgn ( M )
U>
1 ( M ) M 0 m
= ( ) + ( ) u (t) =
( M ) M < 0 2 + M U (1 )
[1;+ ) ;+
( 0;1) mU (1 + )
: upper bound of the drift term

10
m, M: positive lower and upper 5
bounds of the gain term

0
The control is discontinuous
d /d t
-5
The control is based on the

estimation of the local maxima, -1 0
minima and first order flex

points -1 5
-6 -4 -2 0 2 4 6 8

u = ( t )U sgn ( M )
1 ( M ) M 0
( )
t = 10
( M ) M < 0 = 0 .5
( 0;1)
= 07
: modulation parameter
: anticipation parameter 0
d /d t
U: gain parameter
-5
The proper tuning of the

anticipation parameter
-1 0
allows for counteracting the

peaking phenomenon -1 5
-6 -4 -2 0 2 4 6 8

u = ( t )U sgn ( M ) 1
1 ( M ) M 0
(t) = 0 .5
( M ) M < 0 0 .5 *y 1 M y1M
( 0;1) 0
-0 .5
s lid in g v a r ia b le d e r iv a t iv e
-1
increasing VM
-1 .5
anticipation
-2
modulation 1/
-2 .5
reference
-3
-3 -2 -1 0 1 2 3
s lid in g v a r ia b le

Theorem.
Assume that that the sliding dynamics L2f

has relative degree 2 and constant
bounds for the uncertain drift and gain Lg = 0 x V , t
0< L L
vector are known m g f M
Set the controller parameters such 2 + M U ( 1 )

that the convergence conditions are U> , [1;+ ) ;+
m mU ( 1 + )
fulfilled
The state feedback control law u = ( t )U sgn( M )
assures the asymptotic stability 1 ( ) M 0
( 0;1) , ( t ) = M
of the 2-SM on the sliding ( M ) M < 0
surface (x)= 0
Proof.
U>
1

Dominance condition Mk+ 1 Mk
m 0
-1
Convergence condition -2
+ MU mU
2 + M U ( 1 )
[1;+ )
-3
;+
mU ( 1 + ) -4
-5
-6
+ mU
Mk+ 1 Mk , ( 0,1) -7
M k
-8
MU
M k 2(1 )( M U + ) Mk , -9
-1 0
-8 -6 -4 -2 0 2 4 6 8 10
A geometric convergent series of extremal points is generated and the 2-SM is

achieved in a finite time

The Generalized Sub-Optimal 2nd Order Sliding Mode Control algorithm is based
on a switching logic based on the memory of past values of the sliding variable
The values M,k can be ideally evaluated by looking at the past, or by checking
the time instant at which the time derivative of the sliding variable vanishes
The reaching phase can be characterized by twisting around the origin of the ,
plane, or by monotonic convergence of the sliding variable
The Generalized Sub-Optimal algorithm can implement the Sub-Optimal ( =)

and the Twisting algorithms by proper tuning of the parameters
+ (1 ) M U
Condition for monotonic convergence [1;+ ) ;+
mU
= 0
Condition for Twisting algorithm 2 + M U
>
mU
The parameters of the Generalized Sub-Optimal 2nd Order Sliding Mode Control
algorithm can be adjusted to guarantee the global convergence property
Global convergence can be lost because of the peaking phenomenon that is

usually related to large values of the time derivative of the controlled output
Anticipating the switching will cause a reduction of the values
M k 2(1 )( M U + ) Mk
Very small values of will cause very slow convergence to the 2-SM
m + M 2(1 ) M ,1 1
0+U
mU + MU + [ (1 ) M m ]U
1
MU

The gain U and the anticipation of the Generalized Sub-Optimal 2nd Order
Sliding Mode Control algorithm are adjusted at any local extremal value of
L2f ( , )
u = U M k sign k ( )
0 < m Lg Lf M ( , )
Mk
1

k = max ;1
2 (
2
2 k + M kU M k )

UMk >
1
Mk
( k + 13 2
)

k = ( Mk , Mk )
Mk = M ( Mk , Mk )
A prediction of the steepest transient is performed to evaluate the right control
gain and anticipation in order to limit the magnitude of the time derivative of

An illustrative example
3 10
S T D s u b -o p t im a l a lg o rit h m
2 .5 5
2 0
1 .5 -5
p la n t c o n t ro l
o u tp u t
G lo b a l s u b -o p t im a l a lg o rit h m
1 -1 0
G lo b a l s u b -o p t im a l a lg o rit h m
0 .5 -1 5
0 -2 0
S T D s u b -o p t im a l a lg o rit h m
-0 .5 -2 5
0 0 .5 1 1 .5 0 0 .5 1 1 .5
t im e [s ] t im e [s ]
The red line shows the case of a more restrictive condition on the time derivative
of the sliding variable

L2 Single Input 2-SMC Supertwisting

>
m
= ( ) + ( ) u u= sgn( ) sgn( ) dt
+ M
2 > 2
m
3
2
: upper bound of the drift term
1
m, M: positive lower and upper
0
bounds of the gain term
-1
The control is continuous -2
-3
The control is based on the -4
measure of the sliding variable -5
only -6
-3 -2 -1 0 1 2

Theorem.
Assume that that the sliding dynamics L2f + ( Lf Lg + Lg Lf ) u + u 2 L2g

0 < m Lg M
bounds for the uncertain drift and gain
vector are known x V , t
Set the controller parameters such + M

> , 2 > 2
that the convergence conditions are m m
fulfilled
The state feedback control law u= sgn( ) sgn( ) dt
assures the asymptotic stability
of the 2-SM on the sliding
surface (x)= 0
Proof.

Differential inclusion [ m , M + ] sgn( ) [ m, M ]
2
2 .5

U> Dominance condition
m 2 M k 1
1 .5
Convergence condition
1
L2f + ( Lf Lg + Lg Lf ) u + u 2 L2g M k + 1
0 .5
0 < m Lg M 0
+ M
> , 2 > 2
m m - 0 .5
-1
M k
M k + 1 M k , ( 0,1) - 1 .5
- 0 .2 - 0 .1 0 0 .1 0 .2 0 .3 0 .4 0 .5 0 .6
A geometric convergent series of extremal points is generated and the 2-SM is

achieved in a finite time
The Supertwisting 2nd Order Sliding Mode Control algorithm is based on

mixing a nonlinear finite time first order feedback and an asymptotic second
order switching logic
The reaching phase are characterized by a smooth twisting around the origin
of the , plane
The Supertwisting algorithm is effective for SISO systems having relative

degree 1
The 2_SM feature allows for easy implementation of an exact finite time
convergent first order differentiator

The 3rd Order Sliding Mode Control refers to systems whose sliding variable has
relative degree 3 with respect to the (discontinuous) control variable
Lg Lkf = 0 i = 0,1 Lg L2f 0
The main point is to design a control law with the less measurement demand as
possible
Find a finite-time stabilizer that depends only on the sign of the phase variables
u ( t ) = u[ sign ( ) , sign ( ) , sign ( ) ]

The considered 3rd order dynamics dynamics has known constant bounds
L3f Lg Lkf = 0 i = 0,1 0 < m Lg L2f M
A switched sliding-mode controller commuting between two structures:
Anosov unstable Generalized Twisting

[AU] [G-TW]
u = Usign( )
? u = U1sign( ) U 2 sign()
U > /m m [U1 + U 2 ] > M [U1 U 2 ] +

What is the system behaviour under the separate action of the two
considered structures ?
Anosov unstable
AU u = U 0 sign( )
The appearance of a sequence of
zero crossings is ensured. s(t)
t zi i = 1,2,...,
: ( t zi ) = 0
The sliding variable features t

unstable oscillations around zero.
( t zi ), ( t zi ) as i
1 1
u = (U1 + U 2 ) sign( s) (U1 U 2 ) sign( s)
Generalized Twisting
G-TW 2 2

and both converge to zero in
finite time
converges to a constant value e

(not necessarily zero)

(e,0,0) is said to be an equilibrium point

1 1
Generalized Twisting
u = (U1 + U 2 ) sign( s) (U1 U 2 ) sign( s)
G-TW 2 2
(t) and both converge to zero in

finite time
converges to a constant value e

se (not necessarily zero)
t
(e,0,0) is said to be an equilibrium point

The 3rd Order Sliding Mode Controller switches between the two structure
according the represented automaton
AU always leads to a zero crossing

The event-driven controller is
G-TW always leads to an eq. point never blocked

Theorem.
to the output variables , , is BIBS stable.
Assume that that the sliding dynamics L3f

bounds for the uncertain drift and gain Lg = Lg Lf = 0 x V , t
0 < L L2
vector are known m g f M
MU 0 + MU 0 +
1= 2=
Define the parameters mU1 mU 2
i
U U +
3= m 1 4= M 2
MU 2 + mU 2
Chose the contraction rate ( 0,1)

Theorem, cont.
The state feedback control law assures
the asymptotic stability of the 3-SM on 1
u= (U1 + U 2 ) sign( s) 1 (U1 U 2 ) sign( s)
the sliding surface (x)= 0, if the 2 2
controller parameters are chosen
according the following design steps

1) Set U0 >
m
2) Set U2 sufficiently large so that 0< 2 2 <
1 ( 3 + 2 1 ) + 2 2 (1 + 2 1 ) 2 <
3
3) Set U1 sufficiently large so that

3 ( 23 1) > 24

The proof is base on finding the conditions on the control parameters such that a
series of contracting equilibrium points is enforced .
e ,i + 1 e ,i i = 0,1,2,
A typical time-evolution of
the sliding quantity

The Hybrid 3rd Order Sliding Mode Control algorithm is based on switching
between an unstable controller and a stable controller that in general force the
closed loop system onto an equilibrium point with 0
A reduced amount of information is required
A specific care must be devoted to identify the reaching of an equilibrium point
Tuning is quite easy if the step of the procedure are carefully performed

L2 Arbitrary Order SMC
The Arbitrary Order Sliding Mode Control laws are based on a recursive
algorithm deriving form the prescribed law of variation 2-SMC
A r-SMC algorithm needs the knowledge of the sliding variable, of its r-2 time
derivatives and the sign of its r-1 time derivative
It is almost always associated to an arbitrary order differentiator
As for the Dynamical Sliding Mode Control it is assumed that the time
derivatives of the sliding variable are available
Several implementation were presented trying to get a smoother reaching

phase

Consider the nonlinear system x = f ( x ) + g ( x ) u
Lg Lkf = 0 i = 1,2,, r 2
Define a suitable output (x)
Lg Lrf 1 0
Calculate m as the least common multiplier of 1,2,3,...,r

r 1
i 1
m
=
m
(k)
Define the quantities i = 1,2,, r 1
r k
N i ,r
k= 0
0 ,r =
Define the hyper-surfaces
i ,r = ( i ) + i N i ,r sgn(i 1,r ) i = 1,2,, r 1

From the definitions it is clear that
i ,r = 0 i 1,r t r1 i 0 i = 1,2,, r 1
Example r=3
m = 2 3 = 6
2
N1,r = 3
N 2 ,r = ( 6
3
+
6
2
) 1
6
0 ,r =
sgn( )
2
1,r = + 1 3
2 ,r = + 2 ( 6
3
+
6
2
) 1
6
(
sgn + 1
2
3
sgn( ))
Lrf
If the sliding dynamics is bounded r 1
0 < m Lg Lf M
The differential inclusion defining the sliding variable dynamics is
( r)
[ ,+ ] + [ m , M ] u
The controller u = sgn( r 1,r ( , ,, ( r 1)

))
with parameters and i sufficiently large will force r 1,r to zero in finite
time.
Then the cascade convegence will be established.

The coefficients appearing on each i,r are such that the closed loop
dynamics has homogeneity properties
A vectorset field F(x) : Rn Rn is called homogeneous of degree q R with

the dilation d : (x , x , . . . , x ) (x , x , . . . , x ), mi R , if the
m1 m2 mn +
1 2 n 1 2 n
following identity holds
F( x ) = q
d 1F( d x ) > 0
A differential inclusion x F( x ) is called homogeneous of degree q R if it

is invariant with respect to the combined timecoordinate transformation
: (t, x) ( , d x)
q


The homogeneity property implies the finite time stability once the
contraction is proved
Coefficients i can be defined once and the only tuning parameter is

depending on the bounds of the uncertain dynamics

L2 References
G. Bartolini, A. Ferrara, A. Levant, E. Usai, On Second Order Sliding Mode
Controllers, in Variable Structure Systems, Sliding Mode and Non-linear Control,
K.D. Young and U. Ozguner, (Eds.), Lecture Notes in Control and Information
Sciences, LNCIS 247, pp. 329-350, Springer-Verlag, London, 1999.
G. Bartolini, A. Pisano, E. Usai, Global Stabilization for Nonlinear Uncertain Systems

With Unmodeled Actuator Dynamics, IEEE Trans. Automatic Control, 46, pp. 1826
1832, 2001.
G. Bartolini, A. Pisano, E. Punta, E. Usai, A survey of applications of secondorder

sliding mode control to mechanical systems, Int. J. Control, 76, pp. 875892, 2003.
G. Bartolini, A. Pisano, E. Usai, On the FiniteTime Stabilization of Uncertain

Nonlinear Systems With Relative Degree Three, IEEE Trans. Automatic Control, 52,
pp. 21342141, 2007
S.V. Emelyanov, S.K. Korovin, L.V. Levantovsky, Higher order sliding regimes in the
binary control systems, Soviet Physics, Doklady, 31, pp. 291293, 1986.

L2 References
Y. Feng, X. Yu, Z. Man, Nonsingular terminal sliding mode control of rigid
manipulators, Automatica, 38, pp. 21592167, 2002.
L. Fridman, A. Levant Higher order sliding modes, in W. Perruquetti, J.P. Barbot

(Eds.), Sliding Mode Control in Engineering, pp. 53101, Marcel Dekker, 2002.
A. Levant, Sliding order and sliding accuracy in sliding mode control, Int. J. Control,
58, pp. 1247-1263, 1993.
A. Levant, Universal SISO slidingmode coontrollers with finitetime convergence,

IEEE Trans. Automatic Control, 46, pp. 14471451, 2001.
A. Levant, Higher-order sliding modes, differentiation and outputfeedback control,

Int. J. Control, 76, pp. 924941, 2003.
A. Levant, Homogeneity approach to highorder sliding mode design, Automatica,

41, pp. 823830, 2005.
H. Sira-Ramirez, On the dynamical sliding mode control of nonlinear systems, Int. J.

Control, 57, pp. 10391061, 1993.

7 Dobbiaco2009 2 Bianco

Uploaded by

Document Information

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

7 Dobbiaco2009 2 Bianco

Uploaded by

Copyright:

Available Formats

Dept of Electrical and Electronic Eng.

Sliding Mode Control:

Dobbiaco Summer School - Dobbiaco (BZ) 22-26 June 2009 1

Higher Order Sliding Mode Control

Higher Order Sliding Modes in Variable Structure Systems

Dobbiaco Summer School - Dobbiaco (BZ) 22-26 June 2009 2

Dobbiaco Summer School - Dobbiaco (BZ) 22-26 June 2009 3

Dobbiaco Summer School - Dobbiaco (BZ) 22-26 June 2009 5

is a sufficiently smooth vector function: C r 1

Dobbiaco Summer School - Dobbiaco (BZ) 22-26 June 2009 6

set in Filippovs sense (i.e. it consists of Filippovs trajectories of the

respect to the constraint function .

Dobbiaco Summer School - Dobbiaco (BZ) 22-26 June 2009 7

A HigherOrder Sliding Mode Control (HOSMC) system is implemented

starting from any point in a -vicinity of the set G .

Finding a control law such that it is able to enforce a r-SM on a surface in

A simpler system dynamics is usually considered

Dobbiaco Summer School - Dobbiaco (BZ) 22-26 June 2009 8

f(x): drift vector function x: state variables vector

Dobbiaco Summer School - Dobbiaco (BZ) 22-26 June 2009 10

is constrained onto the r-order sliding surface

from a time instant t on, possibly in finite time (t

Dobbiaco Summer School - Dobbiaco (BZ) 22-26 June 2009 11

A r-order Sliding Mode Control on the surface (x)=0 can be designed if

Lg Lrf 1 has full rank The output variable (x) is completely

Dobbiaco Summer School - Dobbiaco (BZ) 22-26 June 2009 12

1 sign ( ) Classical 1-SMC Utkin et al.

+ { sign ( )} Sub-optimal Bartolini et co-authors

2 2 sign ( ) , sign ( ) Twisting Emelyanov, Levant

3 3 sign ( ), sign ( ) , sign (

, ,..., ( r 2 ) , sign ( ( r 1) ) Universal HOSM Levant

Dobbiaco Summer School - Dobbiaco (BZ) 22-26 June 2009 13

Dobbiaco Summer School - Dobbiaco (BZ) 22-26 June 2009 14

Assume that the uncertainties are

linear combination of the sliding s( x ) = ( r 1)

Dobbiaco Summer School - Dobbiaco (BZ) 22-26 June 2009 16

The Higher Order Sliding Mode behavior is reached asymptotically

Dobbiaco Summer School - Dobbiaco (BZ) 22-26 June 2009 17

Dobbiaco Summer School - Dobbiaco (BZ) 22-26 June 2009 18

Assume that the uncertainties are L2f 2 ( x )

Auxiliary sliding variable dynamics s ( t ) = +

Dobbiaco Summer School - Dobbiaco (BZ) 22-26 June 2009 20

The 2nd Order Sliding Mode behavior is reached in finite time

the first time derivatives

They are based on peculiar trajectories on the plane

Dobbiaco Summer School - Dobbiaco (BZ) 22-26 June 2009 22

Supertwisting: it is designed for relative degree 1 sliding surface (the control u

Only the sliding variable has to be available

Sub-Optimal: it is designed for relative degree 2 sliding surface (the control u

The sliding variable has to be available, and possibly also the

: upper bound of the drift term

m, M: positive lower and upper 5

bounds of the gain term

The control is discontinuous

The control is based on the

minima and first order flex

Dobbiaco Summer School - Dobbiaco (BZ) 22-26 June 2009 24

The proper tuning of the

allows for counteracting the

Dobbiaco Summer School - Dobbiaco (BZ) 22-26 June 2009 25

Dobbiaco Summer School - Dobbiaco (BZ) 22-26 June 2009 26

Assume that that the sliding dynamics L2f

Set the controller parameters such 2 + M U ( 1 )

A geometric convergent series of extremal points is generated and the 2-SM is