What is the ChaSlim project?

The ChaSlim project is a 4-year project, supported by the ANR (French National Agency for Research) in the BLANC framework programme. The project will run from 1 October 2011 until 30 September 2015. The main goals of the project are designing new sliding mode controllers and developing a toolbox for synthesizing controllers and simulating the obtained closed-loop system.


bernard.brogliato ( at) inria.fr


The objectives of this project can be divided into two main parts: the first one concerns the design of new methodologies of high order and discrete-time sliding mode controllers, in order to reduce the chattering and improve the disturbance rejection. The efficiency of these novel algorithms will be evaluated thanks to their application to several electromechanical experimental set-ups. The second aspect concerns the development of softwares dedicated to sliding mode control design: first of all, formal computation software, based on the IRCCyN software NOLIACPA (you can download it here), will be developed allowing to formally compute the sliding mode control (SMC) solution for the uploaded system. Then, an efficient simulation tool using the INRIA/SICONOS library for the simulation of nonsmooth dynamical systems will be developed, in order to obtain a prototype toolbox for the design and the simulation of sliding mode controllers. This will lead to the production of the very first free software dedicated to sliding mode control.

This project intends to study the design of sliding mode controllers, with an emphasis on chattering phenomena attenuation and to design tools allowing to develop and promote sliding mode control solutions. In order to reach this goal, two research directions will be explored:

  1. 1) the development of new continuous-time controllers (adaptive (dynamical gain) sliding modes and homogeneous controllers).
  2. 2) the study of discrete-time sliding-mode controllers and the numerical simulation of the continuous-time plants controlled with SMC.

In order to validate the theoretical developments (and especially the chattering attenuation efficiency of the proposed discontinuous feedback controllers), two main tools will be used:

  1. 3) experimental implementations (on existing set-ups available in two laboratories (INRIA/NON-A and IRCCyN) of the consortium) and comparisons of the various solutions on mechanical, electro-mechanical and electro-pneumatic systems.
  2. 4) numerical simulations with the development of a suitable software platform dedicated to a class of nonlinear systems controlled by sliding mode controllers. This software platform will be built from existing software packages available in two laboratories (INRIA/SICONOS and IRCCyN/NOLIACPA) of the consortium.


Partner 1 : INRIA. Centre de recherche Grenoble - Rhône Alpes / Team projet BIPOP

Partner 2 : IRCCyN Nantes

Partner 3 : INRIA. Centre de recherche Lille - Nord Europe / Team NON-A