Complementary sliding control of non-linear systems

In this paper, a novel continuous complementary sliding control was proposed to improve the tracking performance given the available control bandwidth and the extent of parameter uncertainty. With this control law, we have shown that the guaranteed ultimate bound of the tracking error was reduced by half, as compared with the conventional continuous sliding control. The error transient response during the reaching phase has also been remarkably improved by the proposed control. To illustrate its superiority, we presented a composite complementary sliding control scheme for a cascade uncertain non-linear system, which includes the benchmark non-linear problem, TORA. Simulation results on TORA showed good responses to any initial conditions and to single-frequency sinusoidal disturbances.