Abstract
A novel concept of global quasi-sliding mode control scheme which is extended from a global sliding mode control to establish a quasi-sliding motion that ensures a zigzag motion, which will directly move forward to the original phase portrait throughout the entire sliding dynamic response in discrete-time. The new design of an augmented forcing function is followed by three conditions extended from global sliding mode control. In order to reduce chattering phenomenon from zigzag motion, we also propose a redesign of continuous approximation with smooth saturation and utilize an equivalent D2 wavelet filter to decide smooth interval according to sampling time in system. Finally, in discrete time, we propose a global quasi-sliding mode approach for the different hardware platforms. The experimental results show that it matches global quasi-sliding mode theory and maintain zigzag motion throughout the entire response. And then generalized smooth saturation is adopted to ensure that switching control term will output more force and state response will be converge faster. Therefore, the switching function adopted generalized smooth function gsat(.) would be a balance between control force response and state response.