Scheme of Sliding Mode Control based on Modified Particle Swarm Optimization

A new scheme of sliding mode control (SMC) for a class of non-linear systems is presented. The parameters of switching function and exponential reaching law are designed with modified particle swarm intelligent optimization (MPSO) by combining SMC with MPSO, which accelerates the reaching velocity and improves the dynamic behavior and robustness. It can not only track the desired trajectory quickly and accurately, but also eliminate the high-frequency chattering inherent in sliding mode control. The presented scheme is applied to the inverted pendulum system and the simulation results show its validity.