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Smooth super-twisting sliding mode control for the class of underactuated systems.

ABSTRACT: In this article, Smooth Super-twisting Sliding Mode Control (SSTWSMC) is investigated for the class of underactuated system. In underactuated systems, the control design is not directly applicable as for other systems (known as fully actuated systems). Therefore, at initial step, a nonlinear uncertain model of systems is transformed into the controllable canonical form, and then Smooth Super Twisting (SSTW) based Sliding Mode Control (SMC) is devised for the control design purpose for the considered class. In addition, closed loop stability of the proposed technique is presented in a fascinating way. The effectiveness and supremacy of the proposed control technique is proven by extensive analysis between conventional Sliding Mode Control (SMC), Super twisting (STW) sliding mode control and Smooth Super-twisting Sliding Mode Control (SSTWSMC). The comprehensive analysis evaluates the attributes like robustness enhancement, settling time, control effort, chattering reduction, overshoot, sliding mode convergence, etc. and is supported by simulations as well as practical implementation on ball and beam balancer (which is considered as application example).

SUBMITTER: Din SU

PROVIDER: S-EPMC6169871 | biostudies-literature | 2018

REPOSITORIES: biostudies-literature

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Smooth super-twisting sliding mode control for the class of underactuated systems.

Din Sami Ud SU Rehman Fazal Ur FU Khan Qudrat Q

PloS one 20181003 10

In this article, Smooth Super-twisting Sliding Mode Control (SSTWSMC) is investigated for the class of underactuated system. In underactuated systems, the control design is not directly applicable as for other systems (known as fully actuated systems). Therefore, at initial step, a nonlinear uncertain model of systems is transformed into the controllable canonical form, and then Smooth Super Twisting (SSTW) based Sliding Mode Control (SMC) is devised for the control design purpose for the consid ...[more]

PMID: 30281586

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Project description:In order to meet the increasing demand of high-performance control in industrial production, a new sliding mode variable structure control algorithm, Asymptotic Sliding Mode Control (ASMC), is designed in this study to solve the serious chattering problem of sliding mode control. Firstly, a traditional sliding mode exponential approximation law control model and a state space and control function are constructed based on sliding mode control. Secondly, by eliminating the jitter factor, ASMC algorithm is combined with sliding mode control to achieve precise control of permanent magnet synchronous motor (PMSM) and improve its performance. The experimental results indicated that in the simulation experiment, the research system tended to stabilize within 0.2-0.3 seconds, and the system chattering was significantly suppressed. And its output was smoother, the jitter amplitude was significantly reduced by 1/3, and the output torque was more stable. In addition, when the parameter H0 changed to 2H0, the overall speed curve did not change much, with only a slight overshoot. The overshoot was only 2.8%, and the change amplitude was maintained at around 25r/min, indicating that the research system had strong self stability performance. In actual experiments, the current command oscillation of the research system was significantly reduced. The local graph showed that the output fluctuation amplitude of the asymptotic approach law actual control was significantly smaller under no-load disturbance. When the H0 changed towards 2H0, the actual adjustment time was about 0.1 seconds, which was consistent with the simulation experiment. Therefore, the contribution of the research is that the ASMC algorithm can suppress the chattering problem of the system and improve the approaching speed, thus improving the speed regulation quality of the system. This new algorithm has great theoretical and practical significance for improving the performance of PMSM, and is practical in the actual vector control system of PMSM.

Dataset Information

Smooth super-twisting sliding mode control for the class of underactuated systems.

Publications

Smooth super-twisting sliding mode control for the class of underactuated systems.

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