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Journal Articles Automatica Year : 2016

Delayed Sliding Mode Control


A new sliding mode control approach is introduced in this work with the dedicated mathematical tools. A time-delay modification/approximation of sign function is proposed, and it is shown that by substituting this new "sign " realization in the conventional sliding mode algorithms the main advantages of the sliding mode tools are preserved (like rejection of matched disturbances and hyper-exponential convergence), while the chattering is reduced. These results are illustrated and confirmed by numerical simulations for the first order sliding mode control and the super-twisting algorithm.


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Dates and versions

hal-01213703 , version 1 (08-10-2015)



Denis Efimov, Andrey Polyakov, Leonid Fridman, Wilfrid Perruquetti, Jean-Pierre Richard. Delayed Sliding Mode Control. Automatica, 2016, 64, pp.37-43. ⟨10.1016/j.automatica.2015.10.055⟩. ⟨hal-01213703⟩
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