This paper presents a design method of a switching control algorithm in which the conservativeness is reduced in sliding-mode control. In a conventional sliding-mode control system, the control input is switched so that a certain function can remain a Lyapunov one in spite of the presence of system uncertainties. However, the switching gain with conservativeness is generally derived due to the simplicity of the control algorithm. In this case, higher gain is required than is necessary. This situation is not suitable since it causes chattering in system inputs and/or steady state errors in system outputs. In this paper, a condition realizing a Lyapunov function is newly derived. Based on this result, a novel switching control algorithm with reduced conservativeness is proposed. The algorithm is also expanded to an output-tracking control problem. Finally, simulation results are given to illustrate the effectiveness of the proposed switching control algorithm.
スライディングモード制御における保守性を緩和した切り換え制御
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