Saturated Switching Functions for Sliding Mode Control With Speed Error Limitation

The saturated non-singular terminal switching function (SNTSF) for sliding mode control with speed error limitation and finite-time error convergence is proposed. The sliding-mode dynamics and the boundary layer dynamics of the SNTSF are analyzed. It is also shown that the non-singular terminal swit...

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Bibliographic Details
Published in:IEEE access 2024, Vol.12, p.104846-104856
Main Authors: Vasko, Denis, Kardos, Jan, Miklovicova, Eva, Chovanec, Lubos
Format: Article
Language:English
Subjects:
Boundary layer
Boundary layers
Convergence
D C motors
Electric motors
Error analysis
error speed limitation
finite-time
Lead
non-singular
nonlinear control
saturation
sliding mode
Sliding mode control
Steady-state
Switches
Switching
terminal
Tracking control
Trajectory
Uncertain systems
Uncertainty
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Summary:The saturated non-singular terminal switching function (SNTSF) for sliding mode control with speed error limitation and finite-time error convergence is proposed. The sliding-mode dynamics and the boundary layer dynamics of the SNTSF are analyzed. It is also shown that the non-singular terminal switching function does not have a higher boundary layer position tracking precision than the linear switching function, contrary to some previous claims in the literature. An SNTSF sliding mode controller with speed error limitation and finite-time convergence is proposed and tested both simulatively and experimentally on a laboratory DC motor system.
ISSN:2169-3536
2169-3536
DOI:10.1109/ACCESS.2024.3434977