Sliding Mode Control (SMC) is a robust control strategy designed to handle uncertainties and disturbances in dynamic systems. The primary principle of SMC is to drive the system state to a predefined sliding surface, where it exhibits desired dynamic behavior despite external disturbances or model inaccuracies. Once the state reaches this surface, the control law switches between different modes, effectively maintaining system stability and performance.
The control law can be expressed as:
where is the control input, is a positive constant, and is the sliding surface function. The robustness of SMC makes it particularly effective in applications such as robotics, automotive systems, and aerospace, where precise control is crucial under varying conditions. However, one of the challenges in SMC is the phenomenon known as chattering, which can lead to wear in mechanical systems; thus, strategies to mitigate this effect are often implemented.
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