Proxy Based Sliding Mode Control for a Class of Second-Order Nonlinear Systems.

In this paper, an extended Proxy-based Sliding Mode Control (PSMC) which combines sliding mode control with conventional stiff position control, is proposed and applied for the tracking control of a class of second-order nonlinear systems. The well-known chattering problem can be solved by using the proposed control scheme. As a result, the overdamped dynamics which is extremely important for system safety can be achieved without losing the advantage of accurate control performance in the presence of external disturbances and parameter uncertainties. Based on Lyapunov theory, the stability analysis of the proposed scheme is presented and the passivity of the system is also proven. Experiments are carried out to verify the proposed method.