TY - GEN
T1 - Robust control of DC motor drives using higher-order integral terminal sliding mode
AU - Kommuri, Suneel K.
AU - Shafiq, G.
AU - Rath, Jagat J.
AU - Veluvolu, Kalyana C.
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016
Y1 - 2016
N2 - The tracking performance of the industrial servo systems are highly affected by the inherent unstructured uncertainties (external disturbances, and/or unmodeled dynamics), which degrades the reliability of the drive. This paper presents a higher-order terminal sliding mode controller to achieve high-accuracy motion-tracking control of DC motor drives. Fractional integral terminal sliding mode (ITSM) manifold is selected to eliminate the reaching time to the sliding hyperplane, which provides fast tracking error convergence in finite-time. Further, super-twisting control is employed to reduce the chattering while compensating the unwanted unstructured uncertainties compared with the traditional sliding mode control. Experimental results on a DC motor-based industrial mechatronic drives unit (IMDU) with belt-drive load are presented to show the effectiveness of the proposed controller.
AB - The tracking performance of the industrial servo systems are highly affected by the inherent unstructured uncertainties (external disturbances, and/or unmodeled dynamics), which degrades the reliability of the drive. This paper presents a higher-order terminal sliding mode controller to achieve high-accuracy motion-tracking control of DC motor drives. Fractional integral terminal sliding mode (ITSM) manifold is selected to eliminate the reaching time to the sliding hyperplane, which provides fast tracking error convergence in finite-time. Further, super-twisting control is employed to reduce the chattering while compensating the unwanted unstructured uncertainties compared with the traditional sliding mode control. Experimental results on a DC motor-based industrial mechatronic drives unit (IMDU) with belt-drive load are presented to show the effectiveness of the proposed controller.
UR - http://www.scopus.com/inward/record.url?scp=85015202153&partnerID=8YFLogxK
U2 - 10.1109/ICARCV.2016.7838679
DO - 10.1109/ICARCV.2016.7838679
M3 - Conference Proceeding
AN - SCOPUS:85015202153
T3 - 2016 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016
BT - 2016 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016
Y2 - 13 November 2016 through 15 November 2016
ER -