Second order sliding mode control for direct drive positioning system
Second order sliding mode control is known for the ability to suppress chattering effect, often being associated with the implementation of a traditional sliding mode controller. The purpose of this paper is to demonstrate and compare the ability of super twisting sliding mode control to suppress ch...
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Universiti Malaysia Pahang, Malaysia
2017
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my.utem.eprints.253442023-07-20T12:48:23Z http://eprints.utem.edu.my/id/eprint/25344/ Second order sliding mode control for direct drive positioning system Chiew, Tsung Heng Jamaludin, Zamberi Bani Hashim, Ahmad Yusairi Abdullah, Lokman Rafan, Nur Aidawaty Maharof, M Second order sliding mode control is known for the ability to suppress chattering effect, often being associated with the implementation of a traditional sliding mode controller. The purpose of this paper is to demonstrate and compare the ability of super twisting sliding mode control to suppress chattering as well as to improve tracking performances against the traditional sliding mode controller. Both controllers were designed, numerically analysed and experimentally validated on a second order single-input single output system direct drive single axis positioning table. A continuous Kalman-Bucy filter was applied to estimate the velocity signal to further improve the overall tracking performance. Results showed that super twisting sliding mode controller was able to successfully suppress chattering effect by smoothening the control input through integration action to form a continuous function, thus dampening the effect of high frequency switching. The effectiveness of this control algorithm would promote its application in real-time application as it provides better control performance as compared to the standard sliding mode controller Universiti Malaysia Pahang, Malaysia 2017-12 Article PeerReviewed text en http://eprints.utem.edu.my/id/eprint/25344/3/23_Chiew%20et%20al.pdf Chiew, Tsung Heng and Jamaludin, Zamberi and Bani Hashim, Ahmad Yusairi and Abdullah, Lokman and Rafan, Nur Aidawaty and Maharof, M (2017) Second order sliding mode control for direct drive positioning system. Journal of Mechanical Engineering and Sciences (JMES), 11 (4). pp. 3206-3216. ISSN 2289-4659 http://jmes.ump.edu.my/images/Volume%2011%20Issue%204%20December%202017/23_Chiew%20et%20al.pdf 10.15282/jmes.11.4.2017.23.0289 |
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Second order sliding mode control is known for the ability to suppress chattering effect, often being associated with the implementation of a traditional sliding mode controller. The purpose of this paper is to demonstrate and compare the ability of super twisting sliding mode control to suppress chattering as well as to improve tracking performances against the traditional sliding mode controller. Both controllers were designed, numerically analysed and experimentally validated on a second order single-input single output system direct drive single axis positioning table. A continuous Kalman-Bucy filter was applied to estimate the velocity signal to further improve the overall tracking performance. Results showed that super twisting sliding mode controller was able to successfully suppress chattering effect by smoothening the control input through
integration action to form a continuous function, thus dampening the effect of high frequency switching. The effectiveness of this control algorithm would promote its application in real-time application as it provides better control performance as compared to the standard sliding mode controller |
format |
Article |
author |
Chiew, Tsung Heng Jamaludin, Zamberi Bani Hashim, Ahmad Yusairi Abdullah, Lokman Rafan, Nur Aidawaty Maharof, M |
spellingShingle |
Chiew, Tsung Heng Jamaludin, Zamberi Bani Hashim, Ahmad Yusairi Abdullah, Lokman Rafan, Nur Aidawaty Maharof, M Second order sliding mode control for direct drive positioning system |
author_facet |
Chiew, Tsung Heng Jamaludin, Zamberi Bani Hashim, Ahmad Yusairi Abdullah, Lokman Rafan, Nur Aidawaty Maharof, M |
author_sort |
Chiew, Tsung Heng |
title |
Second order sliding mode control for direct drive positioning system |
title_short |
Second order sliding mode control for direct drive positioning system |
title_full |
Second order sliding mode control for direct drive positioning system |
title_fullStr |
Second order sliding mode control for direct drive positioning system |
title_full_unstemmed |
Second order sliding mode control for direct drive positioning system |
title_sort |
second order sliding mode control for direct drive positioning system |
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Universiti Malaysia Pahang, Malaysia |
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2017 |
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http://eprints.utem.edu.my/id/eprint/25344/3/23_Chiew%20et%20al.pdf http://eprints.utem.edu.my/id/eprint/25344/ http://jmes.ump.edu.my/images/Volume%2011%20Issue%204%20December%202017/23_Chiew%20et%20al.pdf |
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13.159267 |