Frequency domain analysis of noise-induced control chattering in sliding mode controls

摘要

The switching sliding mode control is robust with respect to disturbances, but its control signal has the so-called chattering phenomenon that can damage the actuator and the system. To remove the chattering phenomenon, it has been proposed that one can use a continuous boundary layer design to replace the switching control. This paper shows, via the frequency domain analysis, that even when a boundary layer design is used, stochastic measurement noise can still induce the chattering phenomenon in control signals. Such noise-induced chattering is almost unavoidable in noisy environments when the control accuracy requirement is high.