Sliding mode control (SMC) is a robust control technique with chattering as a major drawback. Chattering is undesirable because it can excite unmodeled high-frequency dynamics of the system. One way to reduce chattering is to introduce a boundary layer around the sliding surface while keeping the boundary layer attractive. Introduction of the boundary layer, however, causes the system response to oscillate around the sliding manifold. These oscillations, in turn, may lead to undesirable tracking errors. In this paper, we propose a quantitative feedback theory (QFT) controller (a low pass filter) to minimize the oscillations within the boundary layer and considerably improve the tracking response. We also provide an example to demonstrate the key features of the proposed method.
Skip Nav Destination
Article navigation
December 2003
Technical Notes
Quantitative Feedback Theory (QFT) for Chattering Reduction and Improved Tracking in Sliding Mode Control (SMC)
E. Z. Taha,,
E. Z. Taha,
Mechanical Engineering Department, Southern Methodist University, 5990 Airline Road, Dallas, TX 75205
Search for other works by this author on:
G. S. Happawana,,
G. S. Happawana,
Mechanical Engineering Department, Southern Methodist University, 5990 Airline Road, Dallas, TX 75205
Search for other works by this author on:
Y. Hurmuzlu
Y. Hurmuzlu
Mechanical Engineering Department, Southern Methodist University, 5990 Airline Road, Dallas, TX 75205
Search for other works by this author on:
E. Z. Taha,
Mechanical Engineering Department, Southern Methodist University, 5990 Airline Road, Dallas, TX 75205
G. S. Happawana,
Mechanical Engineering Department, Southern Methodist University, 5990 Airline Road, Dallas, TX 75205
Y. Hurmuzlu
Mechanical Engineering Department, Southern Methodist University, 5990 Airline Road, Dallas, TX 75205
Contributed by the Dynamic Systems, Measurement, and Control Division of THE AMERICAN SOCIETY OF MECHANICAL ENGINEERS for publication in the ASME JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the ASME Dynamic Systems and Control Division March 20, 2002; final revision, May 6, 2003. Associate Editor: Chait.
J. Dyn. Sys., Meas., Control. Dec 2003, 125(4): 665-669 (5 pages)
Published Online: January 29, 2004
Article history
Received:
March 20, 2002
Revised:
May 6, 2003
Online:
January 29, 2004
Citation
Taha, , E. Z., Happawana,, G. S., and Hurmuzlu , Y. (January 29, 2004). "Quantitative Feedback Theory (QFT) for Chattering Reduction and Improved Tracking in Sliding Mode Control (SMC) ." ASME. J. Dyn. Sys., Meas., Control. December 2003; 125(4): 665–669. https://doi.org/10.1115/1.1636780
Download citation file:
Get Email Alerts
Cited By
An Adaptive Sliding-Mode Observer-Based Fuzzy PI Control Method for Temperature Control of Laser Soldering Process
J. Dyn. Sys., Meas., Control
Fault detection of automotive engine system based on Canonical Variate Analysis combined with Bhattacharyya Distance
J. Dyn. Sys., Meas., Control
Multi Combustor Turbine Engine Acceleration Process Control Law Design
J. Dyn. Sys., Meas., Control (July 2025)
Related Articles
Modeling and Control of a Magnetostrictive Tool Servo System
J. Dyn. Sys., Meas., Control (May,2008)
Sliding Mode Control of a 2DOF Planar Pneumatic Manipulator
J. Dyn. Sys., Meas., Control (March,2009)
Sliding Mode Control of Nonlinear Mechanical Vibrations
J. Dyn. Sys., Meas., Control (December,2000)
Output–Feedback Regulation of the Contact-Force in High-Speed Train Pantographs
J. Dyn. Sys., Meas., Control (March,2004)
Related Chapters
Ultra High-Speed Microbridge Chaos Domain
Intelligent Engineering Systems Through Artificial Neural Networks, Volume 17
Norms of Feedback Systems
Robust Control: Youla Parameterization Approach
Boundary Layer Phenomenon for the Nonlinear Dynamical Systems with High-Speed Feedback
International Conference on Advanced Computer Theory and Engineering, 4th (ICACTE 2011)