Chalanga, Asif ; Kamal, Shyam ; Bandyopadhyay, B. (2013) Continuous integral sliding mode control: A chattering free approach In: 2013 IEEE International Symposium on Industrial Electronics, 28-31 May 2013, Taipei, Taiwan.
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Official URL: http://doi.org/10.1109/ISIE.2013.6563756
Related URL: http://dx.doi.org/10.1109/ISIE.2013.6563756
Abstract
The integral sliding mode control, existing in literature is a combination of nominal control and a discontinuous feedback control. Discontinuity in feedback control, is not suitable for many practical applications due to the practical limitations of actuators, known as chattering. In this paper, the integral sliding-mode control law is modified for linear as well as nonlinear systems with matched disturbance replacing the discontinuous part of the feedback control by a super-twisting control. Replacement is possible due to the unique feature of disturbance observation property of the super-twisting algorithm. The proposed controller is continuous due to the combination of two continuous controls. The effectiveness of the modified control law is shown by the simulation on a practical setup-Quanser SRV-02 for position control.
| Item Type: | Conference or Workshop Item (Paper) |
|---|---|
| Source: | Copyright of this article belongs to Institute of Electrical and Electronics Engineers. |
| Keywords: | Integral Sliding Mode Control; Super Twisting Control; Higher Order Sliding Mode; Disturbance Observer. |
| ID Code: | 115979 |
| Deposited On: | 18 Mar 2021 07:55 |
| Last Modified: | 18 Mar 2021 07:55 |
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