Chattering-Free PID-Nested Nonsingular Terminal Sliding Mode Controller Design for Electrical Servo Drives
In this study, a PID-nested nonsingular terminal sliding controller is proposed to minimize the chattering phenomenon. By adding both integral and derivative errors of states into the nonsingular terminal sliding manifolds, a composite sliding manifold was created. Compared to nonsingular terminal s...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2025-04-01
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| Series: | Mathematics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2227-7390/13/7/1197 |
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| Summary: | In this study, a PID-nested nonsingular terminal sliding controller is proposed to minimize the chattering phenomenon. By adding both integral and derivative errors of states into the nonsingular terminal sliding manifolds, a composite sliding manifold was created. Compared to nonsingular terminal sliding mode (NTSM) techniques, this sliding manifold can handle higher-order derivatives. The speed of the motor is controlled by a sliding control law determined through a higher-order integral, making the signal continuous, and the sliding manifold is achieved in finite time. A special full-order terminal sliding mode manifold is introduced, which allows the system to converge in finite time while being chattering-free and avoiding the singularity phenomenon of conventional and terminal sliding modes. The controller’s efficiency is demonstrated with faster convergence time and fewer errors than state-of-the-art controllers, which is demonstrated through both simulation and experiment. |
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| ISSN: | 2227-7390 |