State-dependent boundary layer method for chattering elimination on sliding mode control

Abstract

The purpose of this study is to reduce/eliminate the chattering effect inside boundary layer by using Sliding Mode Control (SMC) technique while maintaining the robustness of the system by improving the existance SMC input control. In this project, state-dependent boundary layer control technique is chosen since this method have an unique characteristic in order to manipulate the state variables value where the boundary layer width can be adjusted by following state variables current value. Then, this state-dependent boundary layer also will be implimented to the inverted pendulum dynamic system where the chattering elimination inside the boundary layer, error convergence inside the boundary layer and robustness of the system will be investigated by using Matlab-simulink. Besides that, the mathemathical equations of inverted pendulum dynamic system will be constructed by using Langrange’s equation which this system is forth order class system. For instance, the comparison result between basic SMC and improved SMC also will be investigated in order to observe the developed controller performance.