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A New Algorithm for Continuous Sliding Mode Control With Implementation to Industrial Emulator Setup

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Title A New Algorithm for Continuous Sliding Mode Control With Implementation to Industrial Emulator Setup
 
Creator CHALANGA, A
KAMAL, S
BANDYOPADHYAY, B
 
Subject SYSTEMS
DESIGN
HOMOGENEITY
SURFACE
Disturbance observer
finite-time stabilization
integral sliding mode control (ISMC)
super twisting control (STC)
 
Description This paper presents a new control algorithm for obtaining continuous sliding mode control, based on integral sliding-mode control (ISMC), where the discontinuous part of the ISMC is replaced with a continuous control. It is shown that the well-known super twisting control (STC), which replaces the discontinuous part of the ISMC acts as a disturbance observer, and hence, cancels the matched disturbance. As the overall controller is continuous the proposed method is advantageous over the existing ISMC, which has a discontinuous term. Also from the practical implementation point of view, in particular for mechanical systems, discontinuous term will result in chattering, which is undesirable. The proposed algorithm has been implemented on a practical system and its superiority has been demonstrated.
 
Publisher IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
 
Date 2016-01-15T09:30:38Z
2016-01-15T09:30:38Z
2015
 
Type Article
 
Identifier IEEE-ASME TRANSACTIONS ON MECHATRONICS, 20(5)2194-2204
1083-4435
1941-014X
http://dx.doi.org/10.1109/TMECH.2014.2368717
http://dspace.library.iitb.ac.in/jspui/handle/100/18256
 
Language en