Sliding Mode Control: An Incremental Perspective

Abstract

This study focuses on stabilization problem of a class of nonlinear systems. Generally, Lyapunov stability-based sliding mode technique is widely used to design controllers for nonlinear systems with uncertainties. In this paper, however, based on contraction property and sliding surfaces, the sliding mode control is suggested to provide incremental stability for nonlinear systems with uncertainties. The effectiveness of the method is illustrated by numerical simulations.

Keywords

• Sliding mode control
• contraction theory
• robust control
• incremental stability