Adaptive Non-Singular Terminal Sliding Mode Control of a DC Motor System with Adaptation Range Optimization in the Presence of Disturbances and Uncertainties

سال انتشار: 1393
نوع سند: مقاله کنفرانسی
زبان: انگلیسی
مشاهده: 1,482

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شناسه ملی سند علمی:

DCEAEM01_161

تاریخ نمایه سازی: 18 دی 1393

چکیده مقاله:

In this paper, an adaptive non-singular terminal sliding mode control (ANTSMC) is proposed for a DC motor, in the presence of disturbances and unknown parameters. The terminal sliding mode control (TSM) was developed to provide faster convergence and higher-precision control than the linear hyper plane-based sliding control. However, the original TSM encountered singularity problem with discontinuous control action. The idea behind this strategy is to use the non-singular terminal sliding mode control (NTSMC) to assure minimum convergence time of the relative motion tracking errors despite the presence of model uncertainties and disturbances. Then, based on the Lyapunov stability theory and the integration of the adaptive law to the NTSMC, the tracking of time variant reference speed input is improved and proper update laws are proposed to reduce the gain of the switching manifold. Adaption range constants are then tuned with the Ant Colony Optimization (ACO), to reach a better tracking control or a more suitable signal control. Finally, simulation results and comparative analysis are carried out to demonstrate the performance and robustness of the proposed control scheme against torque disturbance and chattering.

کلیدواژه ها:

Adaptive non-singular terminal sliding mode control ، DC motor ، Minimum convergence time ، Speed Control ، Unknown parameters

نویسندگان

Alireza Modirrousta

Department of Electrical Engineering, Hamedan University of Technology, Hamedan, Iran

Mostafa Shokrian Zeini

Department of Electrical Engineering, Hamedan University of Technology, Hamedan, Iran

Hadi Delavari

Department of Electrical Engineering, Hamedan University of Technology, Hamedan, Iran