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2015 | OriginalPaper | Chapter

22. Chattering-Free Adaptive Second-Order Terminal Sliding-Mode Controller for Uncertain System

Authors : Sanjoy Mondal, Chitralekha Mahanta

Published in: Systems Thinking Approach for Social Problems

Publisher: Springer India

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Abstract

In this paper, an adaptive second-order terminal sliding-mode (SOTSM) controller is proposed for controlling uncertain systems. The design procedure is carried out in two parts. A linear sliding surface is designed first, and then, using the linear sliding surface, the terminal sliding manifold is obtained. Instead of the normal control input, its time derivative is used by the proposed control law. The actual control is obtained by integrating the derivative control input. The discontinuous sign function is contained in the derivative of the control input, and hence, chattering is eliminated in the actual control. An adaptive tuning method is designed to deal with the unknown system uncertainties, and their upper bounds are not required to be known apriori. System stability is proved by using the Lyapunov criterion. Simulation results demonstrate the effectiveness of the proposed controller for both the single-input single-output (SISO) and multi-input multi-output (MIMO) uncertain systems.

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Metadata
Title
Chattering-Free Adaptive Second-Order Terminal Sliding-Mode Controller for Uncertain System
Authors
Sanjoy Mondal
Chitralekha Mahanta
Copyright Year
2015
Publisher
Springer India
Book
Systems Thinking Approach for Social Problems

Print ISBN: 978-81-322-2140-1

Electronic ISBN: 978-81-322-2141-8

Copyright Year: 2015

DOI
https://doi.org/10.1007/978-81-322-2141-8_22

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