Higher Order Sliding Mode Control for the Tracking Trajectory - The Twisting Algorithm Applied to the Vehicle Model

Abstract:

In this paper a higher order sliding mode control based on the twisting algorithm is studied. The aim is to prove the impact of the choice of sliding surface in the design of the control law. The simulation results shows, a proper selection of the sliding surface in the design of the control law can eliminate or reduce the phenomenon of reluctance. The phenomenon of reluctance or chattering is a major drawback significant in sliding mode control because, although it is possible to filter the output of the process, it is likely to excite high frequency modes that have not been included in the model of the system. This can degrade performance and even lead to instability. For the design of the control law of vehicle model, two sliding surfaces are integrated; the first show a good tracking in the simulation result with disadvantage of the chattering presence in the control law while the second provide a good performance without chattering.

• Periodical: Advanced Materials Research (Volumes 875-877)
• Pages: 2014-2019
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.875-877.2014
• Online since: February 2014
• Authors: Thierno Mamadou Pathe Diallo, Hong Sheng Li, Ning Hui He
• Keywords: Control, Sliding Mode, Twisting Algorithm, Vehicle

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