Tiffany Lodge

Date of Award


Document Type


Degree Name

Master of Science in Engineering (MSE)


Mechanical and Aerospace Engineering

Committee Chair

Farbod Fahimi

Committee Member

Naga Venkat Adurthi

Committee Member

Chang-Kwon Kang


Sliding mode control, Boundary layer, Aerodynamic noise


When a nonlinear system is controlled using the conventional sliding mode control, the system input will create a high-frequency chatter, which can damage the system's actuators. The most common method used to prevent chattering is the introduction of a constant boundary layer, but if the disturbance is high, then chattering can still happen in the system input. In this thesis, a sliding mode controller with an adaptive boundary layer is proposed for multi-input-multi-output systems that prevent chattering, even if the disturbance is high. To demonstrate the effectiveness of the proposed controller in suppressing chatter, a robotic arm was modeled in Matlab's Simulink. Results show that when a disturbance is added, the controller with the constant boundary layer is chattering, whereas the control input for the adaptive boundary layer is still smooth.



To view the content in your browser, please download Adobe Reader or, alternately,
you may Download the file to your hard drive.

NOTE: The latest versions of Adobe Reader do not support viewing PDF files within Firefox on Mac OS and if you are using a modern (Intel) Mac, there is no official plugin for viewing PDF files within the browser window.