Sliding Mode Control with Time-Varying Sliding Hyperplanes: a Survey

Sliding mode control is a well-known regulation method that allows to obtain good robustness with respect to disturbances and model uncertainties. The use of a time-varying sliding hyperplane allows to select its starting position to cross the initial conditions of the system, and then move it toward the desired state. In this way, the sliding mode can be enforced for the whole control process. This is a major advantage over using the more popular time-invariant hyperplanes, which requires the existence of a reaching phase, during which the robustness is not ensured. The presented paper aims to summarize and compare recent results concerning sliding mode control with time-varying hyperplanes.