Review of sliding mode based control

techniques for control system applications

S. J. Gambhire, D. Ravi Kishore,

P. S. Londhe & S. N. Pawar

International Journal of Dynamics

and Control

ISSN 2195-268X

Int. J. Dynam. Control

DOI 10.1007/s40435-020-00638-7

1 23
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 Author's personal copy
International Journal of Dynamics and Control
https://doi.org/10.1007/s40435-020-00638-7

Review of sliding mode based control techniques for control system

applications
S. J. Gambhire1,2 · D. Ravi Kishore3 · P. S. Londhe4 · S. N. Pawar5

Received: 20 March 2020 / Revised: 15 April 2020 / Accepted: 23 April 2020

© Springer-Verlag GmbH Germany, part of Springer Nature 2020

Abstract
In recent development in the control area, advanced control schemes are well established for the systems under the influence
of parametric uncertainties due to modelling error, nonlinearities, and the external disturbances. Among the different robust
control schemes sliding mode control (SMC) has made attention for the control engineer due to its merits. SMC has grown
rapidly as a control in comparison with other robust control strategies due to its distinguish features like insensitive to matched
uncertainties, reduced order sliding mode equations, zero error convergence of closed loop system and it offers a nonlinear
control. The objective of this paper is to present the literature review of SMC development in an era of control technology.
The development of SMC based technique with integration of intelligent control in the field of control engineering has been
surveyed by considering numerous applications.

Keywords Sliding mode control (SMC) · Robotic manipulator · Unmanned surface vehicle · Process control

1 Introduction Soviet Union [1–3]. In the early design stage, the vari-
able structure system was unable to pay attention in the
Sliding mode control technique is perceived as a robust con- control era. owing to the execution complexity particularly
trol tool for the complex higher order nonlinear systems the chattering issues with sensors, actuators and switch-
under the effect of parametric uncertainties and external ing systems. But there are some key advantages to this
perturbations. Sliding mode operation was first derived in technique as it alters the dynamic behaviour of system by
variable structure systems in the period of 1950s in former selecting appropriate switching function which makes the
closed loop response insensitive to matched uncertainty in
B S. J. Gambhire the system. Such promising feature makes an attention to
sjgambhire@gmail.com the researchers for contribution in the development of SMC.
D. Ravi Kishore In recent development, SMC design approaches to the key
dravikishore@gmail.com issues like elimination of chattering, compensation of effect
P. S. Londhe of unstructured dynamics, adaptability in uncertain system
pandurangl97@gmail.com and enhancement in dynamic performance of closed loop
S. N. Pawar system. The key advantage of selecting SMC controller over
sushantnpawar@gmail.com the linear control like PID, as SMC provides an existence of
stability and robustness performance in many uncertain sys-
1 Koneru Lakshmaiah Education Foundation, Vaddeswaram, tems where PID fails in the case of uncertain environment.
Guntur, Andhra Pradesh 522502, India
Presently, sliding mode control (SMC) has implemented
2 Maharashtra Academy of Naval Education and Training, as automatic controller for numerous applications like
MIT-ADT University, Pune, MH, India
robotics, motion control problems, industrial process con-
3 Godavari institute of Engineering and Technology, NH16, trol, aerospace and power electronics applications [4–8]. The
Rajahmundry, Andhra Pradesh 533296, India
main logic of SMC as a control for various application is due
4 Government College of Engineering, Chandrapur, to the better performance for nonlinear systems, suitability
Maharashtra, India
to multiple input multiple output (MIMO) systems and also
5 Ramrao Adik Institute of Technoloy, Navi Mumbai, it acknowledges that it is applicable to discrete time system
Maharashtra, India

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 Author's personal copy
with appropriate design [9]. SMC technique is providing the
outstanding performance while dealing with bounded uncer-
tainties/disturbances and unmodelled dynamics [6,10,11],
over the other established techniques like robust adaptive
control [12], H infinity control [13] , and backstepping con-
trol [14].
The primary step in designing the SMC is to develop the
switching function which satisfies the design criteria so that
the system states on sliding surface and later stage is selec-
tion of appropriate control law which makes system states
on sliding manifold in the presence of internal and external
disturbances/uncertainties. But the basic SMC configuration
is producing the chattering phenomenon in control , hence
it is not applicable in real practice. The chattering arises in
control is then addressed by some researchers and there was
a technique so called second order sliding emerged. The
sophisticated traditional SMC grown up in the middle of
1980s when the “second order sliding” idea was introduced
[15] and then in next phase of development of SMC in the
period of 2000s, higher order concepts [16] were received
much attention. The need of development in the conventional
algorithm is due to the constraints like, the basic structure
requires relative degree of the system to be one corresponds
to sliding variable and also it produces the high frequency
switching control signal which is difficult to compensate
[15,16]. In the modern control, the use of digital computers
and microcontrollers are increased due to the implementation
of digital control algorithm is efficient than analog ones. The
first efforts were taken for discrete structure variable control
system in Russia in 1967. However, the discrete-time slid-
ing mode was introduced by Drakunov and Utkin firstly in
control literature [17]. In the mid of 80s the discrete sliding
mode control was made an attention by various researchers
[5,10,18–30] because of the switching based control law and
absence of switching function in the control law. One of the
major disputes with the classical SMC is that system states
takes infinite time to reach equilibrium. The researchers got
new motivation to improve the performance of system dur-
ing sliding mode and system should reach the equilibrium in
finite time, thereby there was a new control name terminal
sliding mode control (TSMC) was emerged [31].
In TSM the word terminal implies to the equilibrium
which can be reached in finite time and stable, however
the nonlinear sliding surface was proposed. In spite of the
advantage of TSMC but still system states takes time to
reach equilibrium if the initial condition is far away from
the origin. The development was continuously growing and
the fast terminal sliding mode control was introduced [32,33]
which achieves the faster convergence of system states due
to the inclusion of linear counterpart in the terminal sliding
manifold. Also there is a problem of terminal SMC law as
it becomes infinite if states crosses equilibrium and hence
the new developed control algorithm as non-singular termi-
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S. J. Gambhire et al.
nal sliding mode control (NTSMC) was derived [34–37]. In
recent literature the design of event triggered SMC has intro-
duced for linear cum non-linear systems, the objective of
the event triggered is that the control action switches only
when the event is occurred and the system trajectory remains
bounded in the region of sliding surface [38,39].
The technological advancement in modern control in
recent decade has increased and due to which the use of intel-
ligent computers has made much attention for the users. The
feasibility of implementation of complex control algorithms
are possible because of high speed computers. SMC imple-
mentation is possible in today’s growing technological world
hence there are numerous application was found in literature.
One of the major industrial application like robot manipula-
tor is used for car robotic surgery, laser cutting, painting,
polishing, welding task etc. has gained wide importance in
Industry. Such manipulator system dynamics is influenced
with parametric uncertainties, nonlinearities, strong dynamic
coupling and time varying structure [33,34]. SMC is benefi-
cial in creepy environment by virtue of its features, different
SMC configuration has applied for industrial robot manipu-
lator [33,34]. The one of the class of nonlinear system like
under actuated system is established in robotics and control
theory with distinct areas like automobiles, airplanes etc. The
control of under actuated system is bit difficult due to the
major reason as the system has lower number of actuators
than the number variables to be controlled. The robustness is
the prime issue in controlling of under actuated system and
SMC has been able to control the under actuated system with
effect of structured and unstructured uncertainties [40–42].
Process control application like large nuclear reactor refer
to advanced heavy water reactor required proper control oth-
erwise due to reactivity may it follows unstable operation.
The fuzzy SMC is designed to control and overcome the spa-
tial oscillation produced in AHWR [43]. Another day to day
life example like washing machine in which Sliding mode
sensorless control is developed for washing machine drives
due to the demand of speed variation in operation [44]. The
drawbacks of conventional SMC has overcome by design-
ing terminal sliding mode control, fast TSMC, non singular
TSMC, integral SMC or PID based SMC and these different
configurations of SMC has applied effectively for different
wide range of control applications [36,45–59].
This survey paper first introduces the basics of sliding
mode control followed by terminal sliding mode control and
fast terminal sliding mode control. In later part of the paper
discusses the difficulties of SMC implementation in practi-
cal applications. The theoretical and practical aspect of SMC
has presented for different applications like defence, process
control, power electronics and drives, Robotics. The recent
development trends of SMC like integration of SMC with
different control techniques has been addressed in this litera-
ture. The latest advancement is done in order to make control
 Author's personal copy
Review of sliding mode based control techniques for control system applications
to be intelligent and future research direction of this control
technique has presented in this paper.
2 Basics of sliding mode control
2.1 Sliding mode control
The possibility of use of sliding modes to control came out
of past work on variable structure systems [60]. Theoreti-
cally, it is governed by a control technique which regulates
closed loop dynamical behaviour to match a sliding surface.
Closed loop behaviour can be designed by choosing slid-
ing surfaces because closed loop system dynamics features
controlled systems behaviour.
Let us consider sliding surface as
s = ė + λe = 0; λ > 0
where trajectory error is denoted by e, apparently exponential
error convergence occurs. E.g., system (2)
ÿ = f (y) + u
Where system state y; u, control law is given as
u = u 0 = − f + ÿd − λė
results in ṡ = 0. System converges exponentially for zero
initial condition s(t0 ).
The closed loop dynamics of the system is converged
towards sliding surface by adding discontinuous term as
K Sgn(s) in control u 0 for K > 0. At s = 0 the system
will reach the sliding-surface in finite-time. An estimate on
f , fˆ is available in presence of parametric uncertainties ,
then control law becomes û = K Sgn(s) + u and Hence,
u = − f + ÿd − λė − K sgn(s)
which creates ṡ = f − fˆ − K Sgn(s).
It is possible to ensure the Lyapunov stability and con-
vergence to sliding surface by choosing K > || f − fˆ|| [3].
As well traditional SMC is able to provide an exponential
stability with full information about the system and also it
gives asymptotic stability of the system under the influence
of uncertainties.
2.2 Terminal sliding mode control
Idea of terminal attractors was referenced to augment con-
vergence properties of dynamical systems in [2,61]. Authors
Venkataraman and Gulati [32] focussed on a novel approach
to control synthesis for robust robot operations in unstruc-
tured situations. Terminal sliding mode controller enforces
finite time closed loop convergence to equilibrium. Author
demonstrates that terminal sliders provide robustness to
parametric uncertainty without having to recourse to high
frequency switching control similar to conventional sliders.
In this section, concept of terminally sliding surfaces from
first principles was developed and control synthesis of non
linear systems was done.
This relates to the elementary form of cubic parabola
ẏ = −y 1/s (5)
With an equilibrium point at x = 0. Integrating between t0
(initial) and teq (equilibrium)
3 2/s
(1) (teq − t0 ) = y (6)
2 i
Thus above equation settles down into equilibrium in finite
time.
The most general form for a first order terminal attractor
(2) given as ẏ + Y (y) = 0 where Y is bounded for bounded y,
sgn(Y)=sgn(y) and ∂Y∂ y → ∞ asY → 0
The afore mentioned systems are analysed by the use of
Lyapunov methods and some researchers have suggested the
(3) following techniques.
The considered system in dynamical form is
ẏ + Y (y) = 0 (7)
and a Lyapunov function candidate V (y), where V is
bounded for bounded y, ||V (y = 0) > 0|| , ||V (y = 0)|| =
0, If
V̇ + V (V ) = 0 (8)
(4) The dynamical system is terminally stable because of the
property of terminal attractor. Some authors have mentioned
the form of terminal attractor as
p
ẏ = α y q (9)
where, α > 0 and α = (2i + 1) , where i ∈ I and p > q
Here the tools developed in the preceding section are used to
develop a new class of sliding mode controllers. The sliding
surface in Eq. 1 is considered for the controller synthesis
where e = y−yd and yd corresponds to the desired trajectory.
The control algorithm is assumed as
p p −1
u = − f + ÿd − α e q ė (10)
q
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S. J. Gambhire et al.

From Eq. (2) we get been extensively studied so as to verify finite time conver-
gence of the tracking error [27,42–51,61] and indicated as:
p p −1
ë + α e q ė = 0 (11) a a
q s = ė + λe b , λ > 0, 0 < <1 (17)
b
For the above system design a sliding surface s, given as b b
s = e + λ ė a , λ > 0, 1 < < 2. (18)
a
p p −1
si = ëi + α e q ė = 0 (12) It was seen that sliding variable of TSM in [42] and traditional
q
SMC in Eq. (1) has same form when a = b = 1. When
where, the subscript i indicates initial conditions, Eqs. (9) states are far away from equilibrium point, NTSM and TSM
and (10) together found the terminal-stability of system in convergence rates slow down relatively keeping traditional
Eq. (1) as per control law in Eq. (8). The sliding variable s SMC in mind [57] due to 0 < ab < 1. Further the convergent
is expressed as a terminal slider and corresponding Terminal time of NTSM is decreased by applying the concept of fast
Slider Control given in Eq. (8). TSM and the corresponding sliding manifold is developed as
Recalling Eq. (8) [57]

p 2 p −1 s = ė + λ1 e z 1 + λ2 e z 2 (19)
u = − f + ÿd − α 2 e q ė (13)
q
where λ1 , λ2 > 0, z 1 ≥ 1, and 0 < z 2 < 1 When the
Exponent of e must be positive for bounded control signal u, system states are a far from equilibrium point, then λ1 e z 1
thus part becomes dominance over λ2 e z 2 , and Eq. (17) can be
approximated by s = ė + λ1 e z 1 = 0 which assures a faster
p 1 convergence speed. The sliding variable of faster TSM in
> (14)
q 2 Eq. (17) makes the tracking error to be zero rapidly. But
the problem of Eq. (17) is that it produces the singularity
Another tactic for problem which models behaviour among problem when ė = 0 and gives unbounded control energy
sliding surface as a dynamical system and initial condition is when e = 0 To handle singularity issue effectively, a NTSM
proposed; below mentioned control law is considered for the system by Gambhire et al [62] has developed a sliding
p p −1 a
variable as [55]
u = − f + ÿd − α e q ė − βs b (15)
q 1 1 m1
s =e+ sigl (e) + sig m 2 (ė) = 0 (20)
α β
and Eq.(1) produces
a where s = [s1 , · · · , si , . . . , sn ]T ∈ n is sliding surface, β =
c = ṡ + βs b = 0 (16) diag[β1 , . . . , βi , . . . , βn ] ∈ n×n in which βi (i = 1, . . . , n)
is a positive constant; α = diag[α1 , . . . , αi , . . . , αn ] ∈ n×n
A dynamic terminal slider c in Eq. (14) ensures guaranteed in which αi (i = 1, . . . , n) is a positive constant; sigl (e) = [|
convergence of state of s to reach equilibrium in finite time, e1 |l sign(e1 ), . . . , | ei |l sign(ei ), . . . , | en |l sign(en )]T
which regulates the system error e=0 on s. ∈ n and m 1 and m 2 -positive odd-integers nourishing rela-
m1 m1
The reaching phase of s is to be finite from any arbitrary tion 1 < m 2
< 2;l > m 2
. TSM will arise if below mentioned
initial condition because of the closed loop system is mod- adequate condition is fulfilled,
elled by concentrating on dynamic terminal slider
1 d 2
s < −ζi | si | (21)
2.3 Introduction to fast finite time SMC 2 dt i

where ζi (i = 1, · · · , n) > 0 As per the adequate condition

Gambhire et al. [62] discussed control purpose is to drive the
for the presence of TSM, an NFFTSMC is developed as
states q to attain the desired position qd enclosed by finite
time. The tracking error can be signified as, e = q − qd 
m2 m
2− 1 1
Largely, the sliding varible for conventional SMC is τ = M0 (q) q̈d + β sign m 2 (ė) + lsignl−1 (e).
m1 α
treated as shown in Eq. (1). Such typical SMC is unable 
q m
2− 1
to provide finite time convergence of tracking error to zero. β sign m 2 (ė) + K sat(s, ) + C0 (q, q̇) + G 0 (q)
This drawback of classical SMC is removed by introducing p
the concept of TSM and NTSM. The TSM and NTSM have (22)

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Review of sliding mode based control techniques for control system applications
where  is the boundary layer thickness familiarized around
the sliding manifold s = 0 so as to wind-up the chattering
and is said as
 explored a changeable fractional order terminal sliding mode
si
if si > i
{sat(s, )}i = |ssii | (23)
i if si ≤ i
K = diag[K 11 , · · · , K ii , · · · , K nn ] is a matrix and K ii (i =
1, . . . , n) > 0.
When si = 0, then ei will reach to TSM si = 0 with known
time tri (i = 1, . . . , n), which satisfies
| si (0) |
tri 
K ii
3 Applications of SMC
3.1 SMC for robotic manipulator
Parra-Vega and Hirzinger [63] streamlined a straightfor-
ward methodology for designing a passivity based terminal
dynamic sliding mode control that guarantees global finite
time convergence for robot manipulators. Vicente et al. [58]
new structure of a continuous, chatter-free sliding PID con-
trol law for continuous mechanical plants which ensures
exponential convergence is contemplated. The non-linear
integral control input compensates for inertial and gravity
dynamics, while proportional plus derivative control con-
sists of stabilizer of closed loop system trajectories, with
or without finite time convergence, decentralized model
free controller gives comparatively better performance than
model based adaptive controller. Huang et al. [64] presents
a smooth sliding mode control and preliminary method for
motion and force control of constrained robotic manipula-
tor having flexible joints. Few features of reduced dynamics
of constrained robots have been worked upon to exhibit the
motion and tracking errors to zero. Liu et al. [65] made a new
terminal sliding mode control approach for robotic manipula-
tors dependent on finite time stability theory and differential
inequality principle. Keeping model based approach for
robotic manipulators in mind, TSMC approach for robot
control has been studied. Wang and Sun [66] investigates
the stability control of a class of two link flexible manipu-
lators subject to non-minimum phase problem and complex
dynamics and accordingly proposed a optimized continuous
(NTSMC) control scheme. A proposed continuous control
summed with genetic algorithm is used alongside to ensure
stability and quick convergence.
A non-linear four linked SCARA robot manipulator with
uncertain parameters contains a non-singular-terminal slid-
ing mode control proposed by Yang et al. [67] to compare the
efficiency of aforesaid method a model based proportional
derivative and feedforward controller is also developed and
can be used to control the motion of a SCARA robot with high
tracking precision. Nojavanzadeh and Badamchizadeh [68]
controller for controlling robot manipulators with external
disturbances and uncertainties. Lyapunov stability theorem
proves that adaptive control is used to estimate the upper limit
of uncertainties and stability of closed loop system, goal of
tracking in finite time is achieved. Wang et al. [51] stud-
ies practical tracking control design of robot manipulators
through continuous fractional order NTSMC based on time
delay estimation. Where time delay estimation used to coun-
terbalance lumped obscure dynamics of robot manipulators
(24)
prompting an attractive model free nature, and proposed con-
troller can accomplish finite time stability in both achieving
phase and sliding phase prompting to better control perfor-
mance as compared to using boundary layer technique. Zhu
et al. [69] explored terminal sliding mode control of the con-
stant Markovian jumping manipulator systems and numerical
example is cited to express the practicality of the theoretical
results likewise can guarantee the manipulator to track the
ideal trajectory.
Asl et al. [70] shows another way for position estimation
of the robotic manipulators, in light of principles of versatile
Extended Kalman Filter which has better output than conven-
tional Extended Kalman Filter in terms of convergence speed,
robustness and estimation accuracy. Moreover, the position
of each joint is assessed to utilise in a non singular Fast
TSMC. Hence, using non singular fast TSMC having finite
time convergence of the states and does not have the singular-
ity problem of terminal sliding mode, will be a better solution
for desired trajectory tracking of robotic manipulators. Luong
et al. [71] made a finite time continuous terminal sliding mode
controller with perturbation estimation for a Stewart platform
which was intended to compensate for time varying external
disturbances, unmodeled dynamics. The simulation results
appeared its good tracking control results along with change
in model parameter and time varying external disturbances,
also parametric study on designing parameters for the con-
troller mentioned as prospective work.
Rsetam et al. [72] examines control motion of a single link
flexible joint two D–O–F robot which is nonlinear and under-
actuated fourth order system by using hierarchical NTSMC.
According to nature of system, a two fold disintegration of
system is into rigid and flexible subsystem respectively. The
Lyapunov theorem is used to derive proposed control, capa-
ble of stabilizing both subsystem about their zeros in a finite
time. Zhang [73] proposes a rapid multiple terminal switched
sliding mode control strategy for robot manipulators hav-
ing the property of global high speed convergence providing
global non singularity. Si et al. [74] simplified the dynamic
model of the two link flexible manipulator with payload using
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Euler Lagrange equation and a fast NTSMCs proposed for
trajectory tracking issue of two link flexible manipulator.
Mishra et al. [75] examines a robust nonlinear control
method with an uncertainty estimator employed to track
position within its workspace to a kinematically redundant
mobile manipulator having four degrees-of-freedom serial
manipulator mounted on three of mobile bases. It fuses a
decentralized PID control law as a feedback part to raise
the stability of the entire system which would enhance tran-
sient performance, a feedforward remuneration term used
to strengthen the control work by countering the results of
known discrepancies from identified reference acceleration.
This method has one limitation that the control design is
delimited to slow varying lumped disturbances and can be
increased for fast varying lumped disturbances as prospective
activity. Mallem et al. [76] demonstrated a PID fast terminal
sliding mode dynamic inverse control method for wheeled
mobile robots to negate nonlinear and non holonomic proper-
ties for trajectory tracking of dynamic mobile robot system.
To ensure finite time convergence of tracking errors reach
zero, terminal sliding mode control approach is enforced.
Zhu et al. [77] suggested a constructive fault tolerant control
method for general class of uncertain non holonomic systems
by using the minimum dilation degree and auxiliary states
transformation, a constructive terminal slide strategy. Non
holonomic systems face the problem of being subject to non
integrable constraints whose behaviour must comply with
constraints. The wheeled mobile robot parking problem pro-
vides clarification of efficiency of the use of the normal non
holonomic systems with control strategy. Zheng et al. [78]
introduced a hierarchical fast terminal sliding mode control
method based on the ’sliding-mode control techniques’ char-
acteristics. As per intensive sampling results, control method
is efficient to hold two wheeled robots balanced and track
desired velocity by various analyses. Simultaneously, it can
also avoid reduce shaking through rough terrain and natural
calamities.
A PID fast terminal sliding mode dynamic inverse control
method for wheeled mobile robots which provides a rigorous
method of taking into account the specific dynamic mobile
robot to convert a steering system command into control
inputs for the actual mobile robot has been given by Mallem et
al. [76]. Idea behind this is ensuring asymptotic smoothness
of robot’s position and orientation around the required path
considering kinematics and dynamics of robot and assure
finite time convergence of finding errors to zero. Terminal
sliding mode control proposed to design a control law for
trajectory tracking of non holonomic mobile robots is put
forth by Benaziza et al. [79] in order to eliminate the chat-
tering phenomenon, ensure stability by using the Lyapunov
theory and is implemented to kinematic systems, controlled
by velocity inputs. Parking problem for a wheeled mobile
robot is given to show the impact of fault tolerant control
123
S. J. Gambhire et al.
technique, demonstrate application of system by Zhu et al.
[77].
The integral terminal sliding mode obliging control of
multi robot networks is able to provide finite time conver-
gence for a class of first order nonlinear systems with input
disturbances. These are studied by Khoo et al. [80]. It is
then applied to cooperative consensus control of 2 degree-
of-freedom first order AmigoBot mobile robots and proved
that finite time consensus tracking of multi robot networks
can be accomplished on sliding surface. A NTSM control
for position synchronization of multiple manipulator systems
is proposed by Wang et al. [51]. A limited time reaching
law is used to enhance the cumulating rate and reduce the
chattering, it gives stable region of NTSM in presence of
unsurety and external fluctuations. Wu et al. [81] gives adap-
tive multiple terminal sliding mode formation control by
means of output recurring fuzzy wavelet neural networks
for a set of networked heterogeneous Mecanum wheeled
multiple directional robots being unsure. Impact of accepted
control techniques verified through simulations. It would be
an interesting topic for research to conduct experiments to
validate usefulness of the suggested method with collision
and problem avoidance. Chen et al. [82] gave a combined
integral terminal sliding mode based adaptive synchroniza-
tion control system for multiple robotic manipulators with
actuator saturation. Limited time stability is studied based
on Lyapunov theory and simulation results have been given
to know the effectiveness of the techniques.
Bennehar et al. [83] proposal gives design of robust-
adaptive controller for parallel manipulators, on sliding
mode; model based adaptive control. Adaptation loop approx-
imates in real time the time varying, unknown parameters
of model based control loop. To evaluate effectiveness of
controller, real time experiments are conducted on 4 DoF
parallel robot and obtained results have shown improved
tracking performance of recommended controller. Guideline
given for future work would apply the offered controller on
redundantly actuated parallel manipulator while dealing with
internal forces that may occur in such ways. Jun et al. [84]
control disfunction in application of 6 DOF wire driven par-
allel robot (WD-PR) is researched. Complete kinematic and
dynamic equations for WD-PR system are proposed, match-
ing control law is designed by NTSM, continuous NTSM and
its stability analysis is carried out by Lyapunov function.
3.2 SMC for process control
For study and control of spatial oscillations in big nuclear
reactor like advanced heavy water reactor, Patre et al. [43],
gave method like advanced heavy water reactor to stabilize
these oscillations a fuzzy sliding mode controller (FSMC).
Using dynamic simulations, put forth that designed FSMC
is able to rise above spatial oscillations in advanced heavy
 Author's personal copy
Review of sliding mode based control techniques for control system applications
water reactor and found better performance as compared
to suggested methods in references Chen and Huang [85],
a fuzzy sliding mode controller is given to counter distur-
bance of laser alloying control system. Here two adaptive
fuzzy sliding mode controllers are planned for tuning laser
power and traverse velocity concurrently to counter ease and
geometrical differences of work pieces. Deviation of temper-
ature behind melt pool and melt pool area has been reduced
considerably for absorptivity and geometrical change cases,
respectively, compared to original disturbance values of each.
Chi et al. [44] gives new sensorless field oriented control of
direct drive permanent magnet synchronous motors based on
sliding mode has been researched and applied to domestic
washing machine drives. Computer simulation and exper-
imental results both are ahead for verification. Chiu et al.
[86] gives terminal sliding mode control for maximum power
tracking of photovoltaic power systems. At end simulations
and experiments show the expected control results. Su et
al. [87] presents work in field of aerospace engineering as
reusable launch vehicles is expected to reduce rate of space
transportation systems and made a comprehensive design of
disturbance Observer and multivariable NTSMC. Qiang et al.
[88] a new driving mode using servo motor to operate contin-
uous casting mold oscillated along desired non sinusoidal is
presented. Gong et al. [89] gave structure and principle of per-
manent magnet slip clutch which is necessary component of
PECHPS, and speed adjustment technique was established.
Simulation results indicate that nearing rate raised by 48%
than SMC, with better anti-interference ability and it can be
cleared that controller is highly effective. Wang et al. [45]
states a great adaptive terminal sliding mode control system
for a Steer-by-Wire vehicle which was made to take place of
current electric power and hydraulic power assisted steering
system. Experimental results are given to clarify better steer-
ing performance of acceptable control scheme under various
driving criterion, in terms of strong control, high-precision
tracking and road disturbance de amplification. Sindhuja et
al. [90] states about strength properties of unstable reactor
for temperature control, where non linearities are considered
as external bounded disturbance. Ullah et al. [91] states a
novel fractional order adaptive terminal sliding mode con-
trol system including both rotor and grid side converters of
Double Fed Induction Generator and results are compared
with SMC and PI controller. Wang et al. [92] presents a non-
linear composite control strategy of previous P+I control with
a high-order fast terminal sliding-mode load torque reader to
enhance load torque rejection of IM drives.
Zheng et al. [93] gives a full order multiple terminal sliding
mode pitch controller for multi speed wind turbine operating
in above rated range. This method can maintain rotor speed at
rated value and keep output power non fluctuating. Morshed
and Fekih [94] a second order integral terminal sliding mode
control is stated in this document for a Doubly Fed Induc-
tion Generators based wind turbine subject to voltage sags
and parameter fluctuations. The design is made by indirect
impedance network to further provide wind turbine with low
voltage ride through capabilities. Zheng et al. [93] gave max-
imum power point tracking control method. Initially it uses
vector transformation control method of stator based mag-
netic field to realise decoupling control for active and reactive
power. Then full-order terminal sliding mode control method
used to realize the maximum wind power tracking. Zhu et
al. [95] gives a fast tool servo prototype with high stiffness
and an adaptive terminal sliding mode control technique that
allows for online self tuning of controller details, in order to
accommodate system nonlinearity, disturbances from cutting
forces as well as to realize accurate and fast tracking of desig-
nated tool path required for diamond machining of freeform
surface. Lin and Wang [96] gives a new TSM heading con-
troller with disturbance reader to improve heading control of
Air Cushion Vehicle.
3.3 SMC for defence applications
Yuan et al. [97] gives fast TSMC method based on inner outer
loop control strategy to path tracking problem of quadrotor
helicopter systems with time varying fluctuations, achieving
rapid, high precision and finite time control performance.
Wang et al. [98] emphasises on global fast terminal sliding
mode control system of space manipulator for capturing a
tumbling satellite and to study desired capturing path. Xu
et al. [54] proposed analytical results as well applied to
behaviour control of spacecraft. Structural damage brings
strong coupling effects and increase difficulty of flight con-
trol, Jia et al. [99] stated a model of aircraft then an adaptive
NTSMC method is presented. Yun et al. [100] applies a non-
singular fixed time terminal sliding mode control to path
tracking problem of quadrotor systems, achieving limited
time stability with prescribed settling time. Nair and Behera
[101] gave a strong tracking control idea for spacecraft for-
mation flying system, making a projected circular formation,
in leader follower based framework. Lv et al. [102] stated a
finite time disturbance observer based nonsingular integral
terminal sliding mode tracking control scheme for trajectory
tracking of an unmanned surface vehicle.
Tiwari et al. [103] stated for spacecraft attitude tracking
control subject to external disturbances and actuator faults.
Zhang et al. [104] gave a strong adaptive terminal controller
for attitude system of near space vehicle. Yuan et al. [97]
proposed a method to path tracking problem of quadrotor
helicopter systems with fluctuations, achieving fast, high pre-
cision, finite time control performance. Wang et al. [98] states
control techniques of space manipulator for tracking and
capturing a tumbling target satellite. Zhang and Duan [105]
considers relative position control of Line of Sight based
relative motion model, which is highly complicated and
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strongly coupling nonlinear with matched fluctuations. Zhao
et al. [106] states a new continuous terminal sliding mode
guidance law for three dimensional missile guidance system
under manoeuvring target with consideration of second order
autopilot dynamics. Doukhi et al. [107] gave numeric model
of quadrotor unmanned aerial vehicle. Wang and Yu [108]
stated method to pitch, roll and yaw angles of quadrotor with
disturbances can be ensured to track required trajectories in
limited time. Shuai and Zhankui [109] stated techniques to
gain required tracking performance for an uncertain missile’s
lateral system with external disturbance.
The oceans are endowed with great potentials regard-
ing environment, natural resources and military interests,
demand for and use of underwater robotic systems has
become more evident. Attempts are done in evolving
autonomous underwater vehicles to get over challenging
engineering, scientific problems due to unstructured and
dangerous environment by Yuh [110]. Submerged manip-
ulators are an integral part of underwater vehicles which are
used extensively for underwater exploration and investiga-
tion. Venkatesan et al. [111] states issue of making efficient
controller for manipulator for submerged uses. Lv et al. [102]
gave control scheme contributes to precise trajectory tracking
control of an unmanned surface vehicle. Yuan et al. [97] uses
control method to path tracking issue of quadrotor helicopter
systems with fluctuations, achieving fast, high precision and
finite time control performance. A nonlinear NTSMC idea
proposed and applied for complex trajectory tracking control
of an autonomous underwater vehicle (AUV) for underwater
manipulation task applications.
Londhe et al. [112] states a trajectory tracking control error
for a class of nonlinear, highly coupled with motion in six
degrees-of-freedom AUV. Zhang et al. [113] gives a control
method an AUV based on Terminal sliding mode variable
structure control. Xue et al. [114] states course control of an
unmanned surface vehicle propelled with water jet using Fast
TSMC approach based on immersion and manifold invari-
ance.
3.4 SMC with adaptive control scheme
For more than two decades design of adaptive control tech-
niques for robot manipulators have been an active field of
research. In [115] an energy based view to design of a
robust adaptive control scheme for robotic manipulators are
given. Cumulation of adaptive sliding control technique to
compensate assumed dynamics of model and to overcome
unmodelled dynamics and perturbations with less sliding
gains. It is clear path ending fault comes to zero in limited
time and closed loop system is stable. In [116] a fuzzy ter-
minal sliding mode controller with an adaptive mechanism
designed by combining an equivalent controller and a messy
switching controllers to control its parameters. For adaptive
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fuzzy terminal sliding mode controller necessity of available
uncertainty bounds for design of traditional terminal sliding
mode controller is not required and it was shown that system
is invariant on sliding surface once new matching condition is
matched. Also, chattering is reduced around sliding surface
for adaptive messy terminal sliding mode control.
In [117], researchers have given stable, an adaptive and
fast control method for controlling n-DOF robotic manip-
ulator. It consists of mixture of radial base function neural
networks and multiple terminal sliding mode controller to
avoid variable modelling problems, to guarantee stability and
strength robot and to remove breaking phenomenon and to
improve control performance. Song and Ling [118] proposed
a robust adaptive terminal sliding mode control method to
synchronize non autonomous chaotic centrifugal flywheel
governor system in spite of the existence of model uncer-
tainty, dead zone, input saturation and disturbance. Haghighi
and Mobayen [119] proposed an adaptive super twisting
decoupled terminal sliding mode control scheme is designed
for the stabilization of fourth order systems and is veri-
fied by demonstrative simulation results and experimental
assessments. Ba et al. [120] presented robust sliding mode
framework using adaptive time delay estimator and veri-
fied in a real time two degree-of-freedom (DOF) servomotor
robot in various testing conditions and compared with other
controllers.
Jing et al. [121] investigates adaptive non singular termi-
nal sliding mode controller for attitude tracking of spacecraft
with actuator faults. Yi and Zhai [122] developed an adaptive
chattering free sliding mode controller for trajectory tracking
of robotic manipulators in the presence of external distur-
bances and uncertainties are compensated by introducing
the adaptive technique, whose prior knowledge about upper
bound is not required. In [123] Yaoyao Wang et al. proposed a
novel adaptive super twisting non singular fast terminal slid-
ing mode (ASTNFTSM) control for the accurate trajectory
tracking of cable driven manipulators where TDE is used as
its basic framework and to ensure high control performance.
3.5 SMC for power electronics control of drives
In [124] first stated space sharing model for Buck, Boost,
Buck Boost, and Cuk converters then sliding mode con-
trollers are made and entire closed loop system for every
converter has been actuated. Finally, simplified controller
for Cuk converter was introduced and stability of system has
been verified with help of Lyapunov theorem and positive
definite function was discovered to prove system integrity.
Article [125] has stated a grey fuzzy Classical terminal slid-
ing mode control techniques for producing feedback control
loop of PWM DC–AC converter. Grey Prediction techniques
is fine tuned by use of fuzzy control practice for PWM DC–
 Author's personal copy
Review of sliding mode based control techniques for control system applications
AC converters and used to deal with conventional TSMC
chattering and steady state errors.
In [126] algorithm is produced based on third order slid-
ing mode control such that required angular motor position
is tracked accurately, no offline computation is needed and
entire initial state of stepper motor is unexpected. It deals
with robust control issues of a stepper motor subject to
detail deviations and load perturbation. To avoid extra cost
and energy utilisation of tachometers and accelerometers
torque it is not used and a strong second order sliding mode
observer is show. Study in [36] shows application of mul-
tiple terminal sliding mode control system to gain limited
time tracking control of rotor position in axial direction of
a omnidirectional thrust active magnetic bearing (TAMB)
system. For control performance upraisal of TAMB control
system, forthcoming system combines benefits of recur-
ring neural networks, orthonormal Hermite polynomial basis
functions and NTSMC. Also, estimation law for online learn-
ing of recurring Hermite neural network was developed using
Lyapunov theorem to ensure stability of closed loop sys-
tem. Results show excellent control characteristics of stated
method for highly multi directional and time varying TAMB
system at different reference trajectories and conditions.
This article [127] researches mathematical expression of
reaching law with terminal attractor and nonsingular fast ter-
minal sliding mode surface were derived and experimentally
applied to permanent magnet synchronous motor speed servo
system and compared with the classic terminal sliding mode
regulator and PI regulator. In [128] speed control issues for
a PMSM system with variables uncertainties is and a new
control algorithm based on NTSMC is developed. Using this
control strategy it is difficult to handle chattering effect in
view of critical fluctuations. Dongqi MA and Hui Lin studied
chattering free multiple fast terminal sliding mode control, in
order to remove or minimise chattering issue of sliding mode
control, improve convergence speed [129] and applied it to
PMSM position servo system. It solves problem of singular-
ity through advantages both of fast terminal sliding mode
control and the dynamic sliding mode control. Switching
control term becomes smooth due to low pass filter and this
method can guarantee the stability and the finite time con-
vergence of the system from Lyapunov stability analysis.
A fast global terminal sliding mode control is pre-
sented to control current of disc coreless permanent magnet
synchronous motor presented for torque loop to judge instan-
taneous torque [130]. Also it can greatly reduce current ripple
motor with minimum inductance based on the current source
chopper. The work in [131] combined benefits of conven-
tional and terminal sliding mode and presented Fast Terminal
Sliding Mode control based DC-DC buck converter system
which gains higher response of output voltage against step
change in reference voltage, change in input voltage and load
fluctuations. In [132] two methods non singular Fast TSMC
ensures rapid time convergence and singularity avoidance
and a dynamic sliding mode control whose dynamic switch-
ing surface look like conventional PI control method applied
to chaotic system. Chaotic system is subjected to coordinated
external variations, parametric uncertainties and is observed
that overall these methods are insensitive to such disturbances
which depict strong hold. Kommuri et al. [133] stated a robust
state feedback control scheme for DC motor drives based
on higher order integral terminal sliding mode algorithm to
achieve high accuracy motion tracking control of DC motor
drives.
Effectiveness of proposed controller stated with experi-
mental results on a DC motor based industrial mechatronic
drives unit with belt drive load. Additionally, hold of this con-
troller to machine mechanical parameters is also presented.
Aiming at permanent magnetic synchronous motor speed
control system, Fankun et al. [134] stated strategy based on
terminal backstepping sliding mode load observer. Assum-
ing load torque changes, non singular terminal sliding mode
used to design the load observer and matched up controller
with measurement value. Delavari and Naderian [135] stated
advance omnidirectional voltage control tactic upon back-
stepping and fractional order terminal sliding mode control
for an islanded microgrid. The said method robustly con-
trols microgrid voltages in presence of unmodeled dynamics,
parametric uncertainties, imbalanced and omnidirectional
loads with harmonic. Thus, it can approximate boundary
value of external disturbances and internal parameters by
measuring filter capacitor voltage, additionally overcurrent
protection is considered and robust stability analysis of stated
controller is studied. Zhou et al. [136] discussed a full order
terminal sliding mode based energy saving control for grid
connected converter of induction motor systems. Voltage ori-
ented vector control is applied and a continuous reference
current in d-axis is found for DC link voltage loop. Due to
desired feedback of regenerative energy using unity power
factor, energy saving operation of IM systems is attained and
it has better robustness and accuracy than traditional P + I
control method is stated.
3.6 SMC based intelligent control techniques
The integrated fuzzy neutral network system combines the
advantages of neural and fuzzy systems, drawing a lot of
attention lately [137,138]. Like this, one can push height-
ened human like IF-THEN rule thinking and reasoning of
fuzzy systems into neural networks and low level learning
and analytical power of neural networks into fuzzy systems.
Improved control techniques e.g., fuzzy, neural network and
a combination of both are impressive for discussing non lin-
ear systems [139–141] also nonlinear and variable robotic
manipulator dynamics. In [137] demonstrated model of a
fuzzy logic scheduling network which allowed a flawless
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change from reaching phase controller to contact phase con-
troller in given manipulation task. It is checked with research
on a direct drive SCARA type manipulator and concentrated
on a manipulation problem as case study. Liang et al. [142]
have discussed withheld flexible fuzzy global fast terminal
sliding mode control strategy for trajectory tracking control
of micro gyroscopes and Juntao Fei et al. have discussed an
adaptive fuzzy global fast terminal sliding mode controller
to adapt with trajectory tracking control issues of MEMS
gyroscope system. Gyroscopes become important in plat-
form stabilization, navigation, homing and traffic, etc. as
inertial devices measuring angular velocity. For lessening
the chattering, the fuzzy systems with appropriate flexible
rules are applied to assume uncertainties including unknown
nonlinear functions and unknown time-varying external dis-
turbances.
Rezoug and Hamerlain [117] induced a hybrid control
system with NTSMC with time delay estimation technique,
better order sliding mode and Neural Network structure for
n-DOF robot manipulator. Higher order sliding mode com-
prises of Super Twisting algorithm which is approximated
applying radial based function neural network. Simulation
and effective applications and acceptable method has proved
that control can be reached avoiding robot model knowl-
edge with better performance and robustness. Hou and Fei
[143] showed a flexible fuzzy neural network control apply-
ing NTSMC for active power filter to negate the effect of
parameter perturbations and unknown disturbances. Fuzzy
neural network assume NTSMC to let go the need of previ-
ous knowledge, backstepping control NTSMC is designed
to avoid the singular point issue and realize the fast and
finite time convergence. Zhu and Fei [144] showed a flexible
worldwide fast terminal sliding mode control method util-
ising fuzzy neural network for a single phase photovoltaic
grid connected transformer less system made of a dc to ac
inverter and boost chopper. System uncertainties can be com-
pensated variably to lessen chattering of the system making
switching gain in control law very small. Yue et al. [145]
demonstrated neural network based terminal sliding mode
control for Wheeled mobile robots (WMRs) affected by an
augmented ground friction with slippage effect. Based on
the present ground friction, efficient motion precision can
be reached using method having neural network and TSMC
methods for friction approximation and trajectory tracking
of WMRs.
4 Latest development in SMC algorithm
In [146–148], researches had demonstrated the model refer-
ence adaptive controller with terminal sliding modes for the
system where only input and output measurements are pos-
sible, formed a new terminal sliding mode control of MIMO
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S. J. Gambhire et al.
linear systems in [147] and for single input single output
nonlinear dynamical systems [148]. Young et al. [3] shows
a preface to sliding mode control for trainee control engi-
neers. Giorgio Bartolini et al. [149] demonstrated an answer
to the issue of eradicating the chattering effect related to real
life applications of variable structure control with relevance
to a class of unsure multi input nonlinear systems. Xian et
al. [150] show a new continuous control system that plays
instead of uncertainty in high order class, many input many
output nonlinear systems. Hong et al. [151] following a new
switching rule and continuous finite time control, ideas ter-
minal sliding mode control laws are built for some classes
of nonlinear systems. Utkin and Lee [152] streamlined rea-
sons which may show chattering and solution for chattering.
Yu et al. [153] formed non singular quick TSMC method
for single input nonlinear systems. Min and Xu [154] made a
NTSMC model following backstepping for a class of variable
nonlinear system. Polyakov and Poznyak [155] talked about
central thoughts of Lyapunov function design giving a finite
time convergence applying super twisting controller. Khoo
et al. [60] addresses the asymptotic and finite time leader fol-
lower consensus control issue of multi agent network, where
individual agents in the network are defined by a high order
uncertain nonlinear system in chained form.
Chiu [156] shows a single dynamic TSMC method for a
class of MIMO nonlinear systems with first to higher order
dynamics. Khan et al. [157] demonstrates quick TSMC tech-
nique for a class of underactuated systems. Behnamgol and
Vali [158] improved the idea of terminal sliding mode from
matched uncertain nonlinear systems to unmatched uncer-
tain variable structure systems. Mishra et al. [159] thought
of a new set of fast TSMC with twisting control to ensure
finite time convergence of the states for a higher order sys-
tem. Asl et al. [160] researched on a new neural network
NTSMC following optimal Unscented kalman filter. Asl et
al. [70] formed an acceptable extended kalman filter has been
addressed that has good results than conventional EKF in
terms of strength, convergence speed and estimation accu-
racy. Feng et al. [161] states a full order TSM control for
a class of uncertain omnidirectional systems to state issues
of Classic TSMC. Elhajji et al. [162] a differential TSMC is
planned established based on a new omnidirectional sliding
function. Liu et al. [163] stated stabilization and fast terminal
sliding mode control issue for stochastic systems. Hossein-
abadi et al. [164] stated two control inputs for a typical high
order system using of NTSMC and backstepping methods.
Kali et al. [165] stated a control law follwing combination of
NTSMC using exponential reaching law with a time delay
assumption that provides an estimation of uncertainties and
external disturbances by reading inputs and states of system
one step into the past. Zhao et al. [166] stated an improved
NTSMC following super twisting algorithm.
 Author's personal copy
Review of sliding mode based control techniques for control system applications
Two new definitions of critical trajectory and constrained
surface with their attached theorems to state dynamic
behaviour of TSMC and NTSMC for nonlinear systems,
are proposed by Mu and He [167]. Mao et al. [168] stated
continuous limited time sliding mode control approach with
cascade control structure.
4.1 Rescent trends in SMC
Shen et al. [169] pulled-outwork of Chen et al. [141] to a new
framework of omnidirectional single master multiple slave
manipulator system for the cooperative tasks with intercon-
nection time delays. Combined use of controllers designed
from graph based NTSMC method enables both position con-
sensus and tracking synchronization among master, leader,
and slave manipulators. In uses of multilateral tele operation
where slaves can be grouped into several subgroups, stated
overall system can greatly lower cost and necessity robotic
systems as well as the operators. Chen et al. [170] used
nonlinear control method to design position tracking con-
trol of permanent magnet synchronous motor servo system.
For d-axis voltage and q-axis voltage controller is designed
upon vector principle and integral high order terminal sliding
mode. Yang et al. [171] studied multiple fast TSMC strategy
in order to track speed and radial displacement of bearing
less induction motor precisely.
Second order fast NTSMC strategy regarding trajectory
tracking of fully actuated autonomous underwater vehicles
with dynamic fluctuations, time varying external fluctua-
tions are focused upon by Qiao and Zhang [172]. Issues
of strong relative motion control in multi robotic system
with man made potential field method for path planning,
fast adaptive gain NTSMC technique for designing a robust
controller have been given by Nair et al [173]. Van et al.
[174] made tracking control algorithm for robot manipulators
with emphasis on unsurity, faults compromising tendency
and fluctuations rejection. Laidway joins a novel integral
multiple fast TSMC and backstepping design operation. A
backstepping design technique is used for producing control
output of third order dynamics system hence it can achieve
low steady state fault, fast transient response, a finite time
cumulatively and globally asymptotic stability. The Work
[175] presented robust fault tolerant control using adaptive
fuzzy PID based nonsingular fast TSMC (PID-NFTSM) for
second order uncertain nonlinear systems to decrease stable
state error and enhance strength without damaging steadiness
of system. Also, by clubbing adaptive fuzzy approximator
into PID-NFTSM controller, accepted adaptive fuzzy PID-
NFTSM controller could remove need of prior idea of bound
information of uncertainties in design. Here new sliding sur-
face adds advantages of PID and NFTSM sliding surfaces
and is also applied for attitude control of a spacecraft.
Wu et al. [176] proposed a robust adaptive super twist-
ing higher order sliding mode based observer to estimate the
rotor position and suggested a sensor less method. Van et
al. [174] proposed integral nonsingular fast terminal sliding
mode surface and reconstructed third order dynamics model
of the system. Qiao et al. [177] suggested trajectory tracking
control of unmanned underwater vehicles using two adap-
tive integral terminal sliding mode control methods which
is double looped consisting of a kinematic controller and a
dynamic controller.
5 Conclusion
In the growing technological world the use of intelligent
computers are increased and the implementation of advanced
control algorithm is possible. The development of advanced
control algorithm specially the sliding mode control makes
an attention due to the merits and ease of implementation for
linear as well as non-linear systems. The major application
areas of control is to be considered and the survey of the vari-
ous configuration of SMC techniques to those application has
presented in the paper. The generation of SMC like second
order sliding mode controllers, super twisting controllers,
arbitrary order sliding mode controller are explained with
application point of view. Also the progress of SMC with
the integration of different algorithms were discussed with
their merits and demerits of earlier configuration of SMC.
Recently, the adaptive and intelligent technique based SMC
algorithm has developed by several researchers and such
algorithm are much effective in the case of uncertain systems
with the influence of structured and unstructured uncertainty.
In the latest advancement it is noticed that the integration of
observer with SMC technique has been the next move in the
progress of sliding mode based control strategies.
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