| In this project, we thoroughly investigate the use of sliding mode control on Single Input/Single Output (SISO) and Multi Input/Multi Output (MIMO) systems. We propose a theoretical approach which allows chattering reduction on control input, without altering the tracking performance of the controller in steady state regime. Within this approach, we design nonlinear reaching laws using an exponential term that dynamically adapt to the variations of the controlled system. We focus our experimental study on a SISO system which is a magnetic levitation system, and on a MIMO modular hyper redundant manipulator. In order to validate the proposed approach, we experimentally compared it to other existing approaches found in literature. Experimental results for both nonlinear systems show the superiority of the proposed approach, regarding especially the chattering reduction on control input in steady state regime. |
