Work

Chattering-Free PID-Nested Nonsingular Terminal Sliding Mode Controller Design for Electrical Servo Drives

Year: 2025

Type: article

Abstract: 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.

Source: Mathematics

DOI: 10.3390/math13071197

Authors: Nguyen Minh Trieu, Nguyen Tan No, Truong Nguyen Vu, Nguyen Truong Thinh

Institutions: University of Economics Ho Chi Minh City, Graduate University of Science and Technology, Viện Công nghệ Thông minh và Tương tác, Vietnam Academy of Science and Technology

Language: English

Topic: Adaptive Control of Nonlinear Systems

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $3,137

Funder: Đại học Kinh tế Thành phố Hồ Chí Minh