Commande des systemes non lineaires par mode glissant d’ordre superieur

Abstract

In this work, we have presented a review of the main methods of high order of sliding mode control and studied their performances in controlling nonlinear systems such as inverse pendulum, a robot arm and the compressor. In order to reduce the chattering phenomenon, we have considered three methods: - A method that replaces the function sign by a continuous approximation, - A method based on the homogeneity theory of A. Levant, - A method based on a combination of fuzzy logic and high order sliding mode.