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A fast converging robust controller using adaptive second order sliding mode.

Sanjoy Mondal1, Chitralekha Mahanta

  • 1Department of Electronics and Electrical Engineering, Indian Institute of Technology Guwahati, Guwahati 781039, India. m.sanjoy@iitg.ernet.in

ISA Transactions
|August 18, 2012
PubMed
Summary
This summary is machine-generated.

This study introduces an adaptive second order sliding mode (SOSM) controller with a novel nonlinear sliding surface. This advanced control strategy enhances system response by adaptively adjusting damping for reduced overshoot and settling time.

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Area of Science:

  • Control Systems Engineering
  • Nonlinear Control Theory
  • Adaptive Control

Background:

  • Traditional sliding mode controllers often suffer from chattering and require prior knowledge of system uncertainties.
  • Achieving fast system response while minimizing overshoot and settling time is a persistent challenge in control engineering.

Purpose of the Study:

  • To propose an adaptive second order sliding mode (SOSM) controller with a nonlinear sliding surface.
  • To enhance system performance by reducing overshoot and settling time.
  • To eliminate the need for prior knowledge of system uncertainty bounds.

Main Methods:

  • A nonlinear sliding surface with a variable damping ratio is designed.
  • The damping ratio is initially low for rapid response and increased as the system approaches the reference.
  • An adaptive tuning law is employed, and the controller is designed using the time derivative of the control signal.

Main Results:

  • The proposed controller generates a smooth, chattering-free control input.
  • Adaptive tuning law effectively handles system uncertainties without requiring their upper bounds.
  • Simulations confirm the controller's ability to achieve fast response with reduced overshoot and settling time.

Conclusions:

  • The adaptive SOSM controller with a nonlinear sliding surface offers a robust and effective solution for complex control problems.
  • The variable damping ratio strategy successfully balances system responsiveness and stability.
  • This approach provides a significant advancement in adaptive control for systems with uncertainties.