基于控制规划的边界层滑模控制

design method of programming control based sliding mode control with boundary layer is presented. On the basis of analysis to conventional sliding mode control with boundary layer, a fixed boundary layer thickness can be produced automatically by means of programming the switching control. Within the boundary layer, the programming switching control can take advantage of the system bandwidth and improve tracking performance. The method is applied to the control of a second-order nonlinear system, and simulation results verify the validity of the proposed approach.