The slippery road to sliding control : conventional versus dynamical sliding mode control

Theory and design of a conventional sliding mode controller (CSMC) and a dynamical sliding mode controller (DSMC) are discussed and compared. The controllers are applicable to uncertain nonlinear MIMO systems. Emphasis is put on handling of unmodelled dynamics, tuning of controller parameters, suppression of chattering, and robust tracking performance. Experiments are performed with a mechanical manipulator. Errors in the model of this manipulator are due to, amongst other things, neglected flexibilities. It is concluded that for this set-up the robustness to these model-reality differences is approximately the same for both controllers, while nominal performance is best for the CSMC