Chattering alleviation of variable structure control for a certain class of nonlinear systems

A new variable structure control algorithm is developed for a certain class of nonlinear systems. We have shown that the serious problem of chattering about the switching surfaces of variable structure systems can be alleviated by this algorithm. To illustrate its design procedures, simulation of a two‐link nonlinear robotic manipulator is considered. The simulation results indicate that benefit is not obtained at the expense of time required to reach steady‐state.