Dynamic integral sliding mode control for SISO uncertain nonlinear systems

In this work the authors present a dynamic integral sliding mode controller which is based on the existing dynamic sliding mode control and integral sliding mode control techniques. The proposed control law makes use of an integral manifold instead of the conventional sliding manifold which provides dynamic sliding mode without reaching phase. The robustness is inherited from dynamic sliding mode control and is enhanced by the elimination of reaching phase. In addition, this new designed control law reduces chattering with the incorporation of the dynamic sliding mode control concept. Furthermore, the performance is improved via the linear control law design. A comprehensive comparative analysis carried out with dynamic sliding mode control demonstrates the superiority of the proposed control law. A chatter free regulation control of a kinematic car model with im,proved performance in the presence of uncertainties certifies the robustness of the proposed dynamic integral sliding mode controller.