A modified super-twisting sliding mode control with inner feedback and adaptive gain schedule
Corresponding Author
Yi Yang
School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing, 100191 China
School of Electrical Engineering and Automation, Henan Polytechnic University, Jiaozuo, 454000 China
Correspondence to: Yi Yang, School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China.
E-mail: [email protected]
Search for more papers by this authorShiyin Qin
School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing, 100191 China
Search for more papers by this authorPing Jiang
The Institute of Optics And Electronics, The Chinese Academy of Sciences, Chengdu, 610209 China
Search for more papers by this authorCorresponding Author
Yi Yang
School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing, 100191 China
School of Electrical Engineering and Automation, Henan Polytechnic University, Jiaozuo, 454000 China
Correspondence to: Yi Yang, School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China.
E-mail: [email protected]
Search for more papers by this authorShiyin Qin
School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing, 100191 China
Search for more papers by this authorPing Jiang
The Institute of Optics And Electronics, The Chinese Academy of Sciences, Chengdu, 610209 China
Search for more papers by this authorSummary
In order to deal with the overestimation of matched uncertainty and improve the convergence of sliding variable in sliding mode control, a modified structure of super-twisting algorithm (STA) with inner feedback and adaptive gain schedule is presented in this paper. The foremost characteristic of the modified STA is that an inner feedback mechanism is built in the standard STA so as to regulate the dynamic behavior of sliding variable effectively. The damping effect produced by the inner feedback can restrain the overshoot and enhance the performance of faster convergence of the sliding variable. Furthermore, the adaptive gain schedule can effectively decrease the chattering amplitude without knowing the upper bound of uncertainty. The numerical simulations and experiments on DC servo system with low speed are carried out to validate the effectiveness and performance advantages of the proposed methodology. Copyright © 2016 John Wiley & Sons, Ltd.
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