A New Adaptive Sliding Mode Reaching Law: Theoretical Design and Simulation Analysis (Adv. Theory Simul. 10/2024)

Abstract

Based on the reaching-law strategy, the sliding mode control (SMC) has drawn considerable attention for its ability to enhance the dynamic quality of a system's convergence performance and reduce the chattering phenomenon effectively. Inspired by the traditional Chinese classic Journey to the West, the adversarial relationship between “Wukong” and the monster is paralleled with the relationship between the designed adaptive reaching law and the chattering phenomenon within SMC. In this analogy, the winding body of the monster represents the chattering phenomenon, while Wukong striking with a golden cudgel symbolizes a mitigation of this shaking effect. The proposed adaptive reaching law, building on the work of Wang et al. (2014), improves upon previous adaptive gains to ensure the stable system operation. The new adaptive gain converges to a small neighborhood around the origin, preventing chattering and enabling system tracking errors to converge within a finite time. For further details, see article number 2300736 by Wei Huang and co-workers.