A New Variable Exponential Power Reaching Law of Complementary Terminal Sliding Mode Control
In this article, a new nonlinear algorithm based on the sliding mode control is developed for the ball and plate control system to improve dynamic response and steady-state tracking accuracy of the control system. First, a new sliding mode reaching law is proposed, variable exponential power reachin...
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| Format: | Article |
| Language: | English |
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Wiley
2020-01-01
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| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2020/8874813 |
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| author | Feng Xu Na An Jianlin Mao Shubo Yang |
| author_facet | Feng Xu Na An Jianlin Mao Shubo Yang |
| author_sort | Feng Xu |
| collection | DOAJ |
| description | In this article, a new nonlinear algorithm based on the sliding mode control is developed for the ball and plate control system to improve dynamic response and steady-state tracking accuracy of the control system. First, a new sliding mode reaching law is proposed, variable exponential power reaching law (VEPRL), which is expressed in two different forms including a nonlinear combination function term and a variable exponential power term, so that it can be adjusted adaptively according to the state of the system by the variable exponential power reaching term during the reaching process. The computation results show that it can not only effectively weaken the chattering phenomenon but also increase the rate of the system state reaching to the sliding mode surface. Moreover, it has the characteristic of global finite-time convergence. Besides, a complementary terminal sliding mode control (CTSMC) method is designed by combining the integral terminal sliding surface with the complementary sliding surface to improve the convergence rate. Based on the proposed VEPRL and CTSMC, a new sliding mode control method for the ball and plate system is presented. Finally, simulation results show the superiority and effectiveness of the proposed control method. |
| format | Article |
| id | doaj-art-6ea2a3f2e29640f0a789300c2b3aa5a9 |
| institution | Kabale University |
| issn | 1076-2787 1099-0526 |
| language | English |
| publishDate | 2020-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Complexity |
| spelling | doaj-art-6ea2a3f2e29640f0a789300c2b3aa5a92025-02-03T01:00:19ZengWileyComplexity1076-27871099-05262020-01-01202010.1155/2020/88748138874813A New Variable Exponential Power Reaching Law of Complementary Terminal Sliding Mode ControlFeng Xu0Na An1Jianlin Mao2Shubo Yang3School of Information Engineering and Automation, Kunming University of Science and Technology, Kunming 650500, ChinaKunming Precision Machinery Research Institute, Kunming 650032, ChinaSchool of Information Engineering and Automation, Kunming University of Science and Technology, Kunming 650500, ChinaSchool of Information Engineering and Automation, Kunming University of Science and Technology, Kunming 650500, ChinaIn this article, a new nonlinear algorithm based on the sliding mode control is developed for the ball and plate control system to improve dynamic response and steady-state tracking accuracy of the control system. First, a new sliding mode reaching law is proposed, variable exponential power reaching law (VEPRL), which is expressed in two different forms including a nonlinear combination function term and a variable exponential power term, so that it can be adjusted adaptively according to the state of the system by the variable exponential power reaching term during the reaching process. The computation results show that it can not only effectively weaken the chattering phenomenon but also increase the rate of the system state reaching to the sliding mode surface. Moreover, it has the characteristic of global finite-time convergence. Besides, a complementary terminal sliding mode control (CTSMC) method is designed by combining the integral terminal sliding surface with the complementary sliding surface to improve the convergence rate. Based on the proposed VEPRL and CTSMC, a new sliding mode control method for the ball and plate system is presented. Finally, simulation results show the superiority and effectiveness of the proposed control method.http://dx.doi.org/10.1155/2020/8874813 |
| spellingShingle | Feng Xu Na An Jianlin Mao Shubo Yang A New Variable Exponential Power Reaching Law of Complementary Terminal Sliding Mode Control Complexity |
| title | A New Variable Exponential Power Reaching Law of Complementary Terminal Sliding Mode Control |
| title_full | A New Variable Exponential Power Reaching Law of Complementary Terminal Sliding Mode Control |
| title_fullStr | A New Variable Exponential Power Reaching Law of Complementary Terminal Sliding Mode Control |
| title_full_unstemmed | A New Variable Exponential Power Reaching Law of Complementary Terminal Sliding Mode Control |
| title_short | A New Variable Exponential Power Reaching Law of Complementary Terminal Sliding Mode Control |
| title_sort | new variable exponential power reaching law of complementary terminal sliding mode control |
| url | http://dx.doi.org/10.1155/2020/8874813 |
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