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

被引：85
作者：
Chalanga, Asif [1 ]
Kamal, Shyam [1 ]
Bandyopadhyay, Bijnan [1 ]
机构：
[1] Indian Inst Technol, IDP Syst & Control Engn, Bombay 400076, Maharashtra, India
来源：
IEEE-ASME TRANSACTIONS ON MECHATRONICS | 2015年 / 20卷 / 05期
关键词：
Disturbance observer; finite-time stabilization; integral sliding mode control (ISMC); super twisting control (STC); HOMOGENEITY; SYSTEMS;
D O I：
10.1109/TMECH.2014.2368717
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
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收藏
页码：2194 / 2204
页数：11
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