Chattering Reduction for a Second-Order Actuator via Dynamic Sliding Manifolds
This addresses chattering reduction in control systems, but it appears incremental as it builds on existing sliding-mode methods with a specific proof.
The paper tackles actuator chattering in a second-order system by comparing static and dynamic sliding manifolds, proving that dynamic manifolds can reduce chattering amplitude using harmonic balance analysis.
We analyze actuator chattering in a scalar integrator system subject to second-order actuator dynamics with an unknown time constant and first-order sliding-mode control, using both a conventional static sliding manifold and a dynamic sliding manifold. Using the harmonic balance method we proof that it is possible to adjust the parameters of the dynamic sliding manifold so as to reduce the amplitude of the chattering in comparison to the static manifold. The proof of concept is illustrated with an example.