Skip to main content
SpringerLink
Log in

Sliding mode control with integral augmented sliding surface: design and experimental application to an electromechanical system

  • Original Paper
  • Published:
Electrical Engineering Aims and scope Submit manuscript

Abstract

In this study, an integral augmented sliding mode control (SMC + I) has been proposed to improve control performance of systems. Stability of the closed-loop system is guaranteed in the sense of Lyapunov stability theorem. The effectiveness of the control solution is established by the stability analysis of the closed-loop system dynamics. The proposed controller is adopted to control speed of an electromechanical system. The experimental set-up reflects the emphasis on the practicability of the proposed sliding mode controller. The experimental results are presented and compared with the results obtained from conventional sliding mode control and Proportional + Integral + Derivative (PID) control. The experimental results verify that the proposed controller provides favorable tracking performance, faster and smoother speed regulation with regard to parameter variations and disturbances. The present study shows that the proposed controller, with its straightforward solution, is easily applicable to industrial problems and an alternative to conventional PID and sliding mode controllers.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. Utkin VI (1977). Variable structure systems with sliding modes. IEEE Trans Automa Control 22: 212–222

    Article  MATH  MathSciNet  Google Scholar 

  2. Slotine JJ and Li W (1991). Applied nonlinear control. Prentice Hall, Englewood Cliffs

    MATH  Google Scholar 

  3. Boiko I, Fridman L, Iriarte R, Pisano A and Usai E (2006). Parameter tuning of second-order sliding mode controllers for linear plants with dynamic actuators. Automatica 42: 833–839

    Article  MATH  MathSciNet  Google Scholar 

  4. Utkin VI (1993). Sliding mode control design principles and applications to electric drives. IEEE Trans Ind Electron 40: 23–26

    Article  Google Scholar 

  5. Eker I (2006). Sliding mode control with PID sliding surface and experimental application to an electromechanical plant. ISA Trans 45: 109–118

    Article  Google Scholar 

  6. Jang MJ, Chen CL and Chen CK (2002). Sliding mode control of hyperchaos in Rössler systems. Chaos Solitons and Fractals 13: 1465–1476

    Article  MathSciNet  Google Scholar 

  7. Khalil HK (1996). Nonlinear systems. Prectice Hall, Upper Saddle River

    Google Scholar 

  8. Hung JV, Gco W and Hung JC (1993). Variable structure control: a survey. IEEE Trans Ind Electron 40: 2–22

    Article  Google Scholar 

  9. Zhou F and Fisher DG (1992). Continuous sliding mode control. Int J Control 55: 313–327

    Article  MATH  MathSciNet  Google Scholar 

  10. Park KB and Lee JJ (1997). Sliding mode controller with filtered signal for robot manipulators using virtual plat/controller. Mechatronics 7: 277–286

    Article  Google Scholar 

  11. Slotine JJ (1984). Sliding controller design for nonlinear systems. Int J Control 40: 421–434

    Article  MATH  Google Scholar 

  12. Lim CL, Jones NB, Spurgeon SK and Scott JJA (2003). Reconstruction of human neuromuscular control signals using a sliding mode control technique. Simul Model Pract Theory 11: 222–235

    Google Scholar 

  13. Lin FJ, Wai RJ, Kuo RH and Liu DC (1998). A comparative study of sliding mode and model reference adaptive observers for induction motor drive. Electr Power Syst Res 44: 163–174

    Article  Google Scholar 

  14. Walchko KI, Novick D, Nechyba MC (2003) Development of a sliding mode control system with extended Kalman filter estimation for subjugator. Florida Conference on Recent Advances in Robotics FCRAR, Dania Beach

  15. Wai RJ, Lin CM and Hsu CF (2004). Adaptive fuzzy sliding mode control for electrical servo drive. Fuzzy Sets Syst 143: 295–310

    Article  MATH  MathSciNet  Google Scholar 

  16. Sha D, Bajic VB and Yang H (2002). New model and sliding mode control of hydraulic elevator velocity tracking system. Simul Pract Theory 9: 365–385

    Article  MATH  Google Scholar 

  17. Khan MK and Spurgeon SK (2006). Robust MIMO water level control in interconnected twin-tanks using second order sliding mode control. Control Eng Pract 14: 375–386

    Article  Google Scholar 

  18. Lyshevski SE (1999). Nonlinear control of mechatronic systems with permanent-magnet DC motors. Mechatronics 9: 539–552

    Article  Google Scholar 

  19. Jang JO and Jeon GJ (2000). A parallel neuro-controller for DC motors containing nonlinear friction. Neurocomputing 30: 233–248

    Article  Google Scholar 

  20. Eker I (2004). Experimental on-line identification of an electromechanical system. ISA Transactions 43: 13–22

    Article  Google Scholar 

  21. Horng JH (1999). Neural adaptive tracking control of a DC motor. Inf Sci 118: 1–13

    Article  MathSciNet  Google Scholar 

  22. Yavin Y and Kemp PD (2000). Modelling and control of the motion of a rolling disk: effect of the motor dynamics on the dynamical model. Comput Methods Appl Mech Eng 188: 613–624

    Article  MATH  MathSciNet  Google Scholar 

  23. Mummadi VC (2000). Steady-state and dynamic performance analysis of PV supplied DC motors fed from intermediate power converter. Solar Energy Mater Solar Cells 61: 365–381

    Article  Google Scholar 

  24. Kara T and Eker I (2004). Nonlinear closed-loop direct identification of a dc motor with load for low speed two-directional operation. Electr Eng 86(2): 87–96

    Article  Google Scholar 

  25. Chern TL and Wu YC (1993). Design of brushless DC position servo systems using integral variable structure approach. IEE Proc Electr Power Appl 140: 27–34

    Article  Google Scholar 

  26. Eker I, Akinal SA (2005) Sliding mode control with integral action and experimental application to an electromechanical system. In: CIMA’05 International Computing Sciences Conferences(ICSC)–1st International ICSC Symposium on Industrial Application Of Soft Computing, 15–17 December, Istanbul, TURKEY

  27. Seshagiri S, Khalil KH (2002) On introducing integral action in sliding mode control. In: Proceedings of 41st conference on decision and control, Nevada, pp 1473–1478

  28. Chan PT, Rad AA and Wang J (2001). Indirect adaptive fuzzy sliding mode control: Part II: parameter projection and supervisory control. Fuzzy Sets Syst 122: 31–43

    Article  MATH  MathSciNet  Google Scholar 

  29. Chu WH and Tung PC (2005). Development of an automatic arc welding system using a sliding mode control. Int J Mach Tools Manuf 45: 933–939

    Article  Google Scholar 

  30. Ha QP, Nguyen QH, Rye DC and Whyte HFD (2001). Fuzzy sliding mode controllers with applications. IEEE Trans Ind Electron 30: 2–21

    Google Scholar 

  31. Eva PE (1996). The MATLAB Handbook. Addison-Wesley, Harlow

    MATH  Google Scholar 

  32. Chen CT and Peng ST (2006). Design of a sliding mode control system for chemical processes. J Process Control 15: 515–530

    Article  MathSciNet  Google Scholar 

  33. Camacho O and Smith CA (2000). Sliding mode control: an approach to regulate nonlinear chemical processes. ISA Trans 39: 205–218

    Article  Google Scholar 

  34. Seborg DE, Edgar TF and Mellichamp DA (1989). Process Dynamics and Control. Wiley, New York

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Department of Electrical and Electronic Engineering, Çukurova University, 01330, Balcalı, Adana, Turkey

    İlyas Eker

  2. Vocational School of Higher Education, University of Gaziantep, 27310, Gaziantep, Turkey

    Şule A. Akınal

Authors
  1. İlyas Eker
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Şule A. Akınal
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to İlyas Eker.

Rights and permissions

Reprints and permissions

About this article

Cite this article

Eker, İ., Akınal, Ş.A. Sliding mode control with integral augmented sliding surface: design and experimental application to an electromechanical system. Electr Eng 90, 189–197 (2008). https://doi.org/10.1007/s00202-007-0073-3

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s00202-007-0073-3

Keywords

Search

Navigation