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Chattering and stability analysis of the sliding mode control using inverse hyperbolic function

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  • Control Theory and Applications
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Abstract

Chattering is a known issue in sliding mode control (SMC) and much research has been carried out to mitigate the chattering and its effects. In this work the chattering and stability analysis of the inverse hyperbolic function (IHF) based reaching law (RL) has been carried out. The work mathematically formulates the reaching time and calculates the describing function (DF) for the IHF based RL, which is used to formulate the conditions for chattering avoidance. The bound for the gain of RL has been calculated that will result in the chattering avoidance. Finally the proposed scheme has been used to control the speed of DC motor. Experimental results show avoidance of chattering and reduction in the reaching time.

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Authors and Affiliations

  1. Controls and Signal Processing Research Group (CASPR), Capital University of Science and Technology, Islamabad, Pakistan

    Muhammad Asad

  2. Capital University of Science and Technology, Islamabad, Pakistan

    Muhammad Ashraf, Sohail Iqbal & Aamer Iqbal Bhatti

Authors
  1. Muhammad Asad
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  2. Muhammad Ashraf
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  3. Sohail Iqbal
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  4. Aamer Iqbal Bhatti
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Correspondence to Muhammad Asad.

Additional information

Recommended by Associate Editor Ohmin Kwon under the direction of Editor Jessie (Ju H.) Park.

Muhammad Asad received the B.Sc. degree in Mechanical Engineering from University of Engineering & Technology Peshawar, Pakistan in 1998, his M.Sc. in Software Engineering in 2001 from University of the West of England, Bristol, UK. MSc and his Ph.D. in Computer Engineering from Center for Advanced Studies in Engineering (CASE) Islamabad, Pakistan, in 2008 and 2016, respectively. He has been working with industry in the field of control design and signal processing for the last seventeen years. His research interests include robust and nonlinear control, adaptive control, estimation theory, system identification and digital systems design.

Muhammad Ashraf was born in Okara, Pakistan, in 1961. He received the B.Sc. in electrical engineering from UET, Lahore and M.Sc. degree in electrical engineering from the Quaid-e-Azam University, Islamabad Pakistan, in 1987 and 1989, respectively, and the Dr. Ing. degree from the Department of Electrical Engineering, the University of Liverpool, UK in 1995. He worked in industrial plants as head of electronics and computer division. He acted as a project manager and designer in a team of seven engineers to design complex mechatronic systems for the industry. He joined National University of Science and Technology (NUST) as faculty member in 1998 and now serving at Capital University of Science and Technology, Pakistan as associate professor.

Sohail Iqbal got his Masters in Computer Science from International Islamic University Islamabad in 1999, Masters in Engineering (control systems) from Center for Advance Studies in Engineering Islamabad in 2005 and PhD in Control Systems from Capital University of Science and Technology Islamabad (CUST), Pakistan in 2011. He has been working with industry in the field of control designing for electro-mechanical systems for last fifteen years. He was research fellow with Department of Engineering, University of Leicester UK in year 2010. His research interests are control theory and robotics systems emphasizing on Higher Order Sliding Mode theory. He is author and co-author of five journal papers and twenty five conference papers.

Aamer Iqbal Bhatti SM IEEE had a Masters in Control Systems from Imperial College London and a PhD in Control Engineering from Leicester University in 1998. He is currently Head of Controls and Signal Processing Research Group (CASPR) at Capital University of Science and Technology Islamabad (CUST), Pakistan. He has over seventeen years of industrial and academic experience of robust controller design and implementation. His work is mainly focused on the application of Higher Order Sliding Mode on the parameter estimation of industrial systems like automotives and reactors. He is author and coauthor of 123 international journal and conference publications.

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Asad, M., Ashraf, M., Iqbal, S. et al. Chattering and stability analysis of the sliding mode control using inverse hyperbolic function. Int. J. Control Autom. Syst. 15, 2608–2618 (2017). https://doi.org/10.1007/s12555-016-0654-x

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  • DOI: https://doi.org/10.1007/s12555-016-0654-x

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