Journal
IEEE-ASME TRANSACTIONS ON MECHATRONICS
Volume 20, Issue 5, Pages 2194-2204Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2014.2368717
Keywords
Disturbance observer; finite-time stabilization; integral sliding mode control (ISMC); super twisting control (STC)
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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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