4.6 Article

Adaptive Chattering-Free PID Sliding Mode Control for Tracking Problem of Uncertain Dynamical Systems

期刊

ELECTRONICS
卷 11, 期 21, 页码 -

出版社

MDPI
DOI: 10.3390/electronics11213499

关键词

sliding mode control; hyperbolic reach law; variable gain; adaptive; trajectory tracking

资金

  1. Central Government Guided Local Special Foundation [YDZX20191400002765]
  2. National Natural Science Foundation of China [52075503, 51875532]

向作者/读者索取更多资源

This paper proposes a novel controller for the trajectory tracking problem with unknown uncertainties utilizing PIDSM and a variable gain hyperbolic reaching law. The control effect is significantly improved by introducing a PID-type sliding mode surface and a variable gain hyperbolic approach law. The simultaneous redesign of the sliding mode surface and reaching law ensures the robustness and tracking accuracy of the uncertain system. The combination of adaptive estimation and sliding mode control further enhances the tracking accuracy and robustness of the system.
Aiming at the trajectory tracking problem with unknown uncertainties, a novel controller composed of proportional-integral-differential sliding mode surface (PIDSM) and variable gain hyperbolic reaching law is proposed. A PID-type sliding mode surface with an inverse hyperbolic integral terminal sliding mode term is proposed, which has the advantages of global convergence of integral sliding mode (ISM) and finite time convergence of terminal sliding mode (TSM), and the control effect is significantly improved. Then, a variable gain hyperbolic approach law is proposed to solve the sliding mode approaching velocity problem. The variable gain term can guarantee different approaching velocities at different distances from the sliding mode surface, and the chattering problem is eliminated by using a hyperbolic function instead of the switching function. The redesign of the sliding mode surface and the reaching law ensures the robustness and tracking accuracy of the uncertain system. Adaptive estimation can compensate for uncertain disturbance terms in nonlinear systems, and the combination with sliding mode control further improves the tracking accuracy and robustness of the system. Finally, the Lyapunov stability principle is used for stability analysis, and the simulation study verifies that the proposed control scheme has the advantages of fast response, strong robustness, and high tracking accuracy.

作者

我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。

评论

主要评分

4.6
评分不足

次要评分

新颖性
-
重要性
-
科学严谨性
-
评价这篇论文

推荐

暂无数据
暂无数据