Design of robustly asymptotic stabilizer using a time-varying sigmoid-type SMC scheme

This study presents a class of first-order sliding mode stabilizing control laws, which preserve the advantages of rapid response and robustness from the conventional sliding mode control (SMC) schemes. The presented SMC laws are continuous everywhere so that the chattering characteristic of the sign-type SMC laws is greatly alleviated. This scheme is also shown to be able to mend the saturation-type SMCpsilas weakness of only achieving uniformly ultimate boundedness performance to an asymptotic stability level.