Backstepping integral sliding mode control of an electromechanical system

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ÇOBAN R.

AUTOMATIKA, vol.58, no.3, pp.266-272, 2017 (SCI-Expanded) identifier identifier

  • Publication Type: Article / Article
  • Volume: 58 Issue: 3
  • Publication Date: 2017
  • Doi Number: 10.1080/00051144.2018.1426263
  • Journal Name: AUTOMATIKA
  • Journal Indexes: Science Citation Index Expanded (SCI-EXPANDED), Scopus
  • Page Numbers: pp.266-272
  • Çukurova University Affiliated: Yes

Abstract

The aim of this paper is to design a backstepping integral sliding mode controller (BISMC) for speed control of an electromechanical system under uncertainties and disturbances. An integral dynamic is included in traditional sliding surface to improve chattering and steadystate error in tracking a reference signal when parametric uncertainties and disturbances exist. Design and stability of the closed-loop system is realized by Lyapunov criterion in a step by step procedure. Experimental results of the proposed BISMC are compared with those of the traditional sliding mode controller (SMC). The proposed BISMC achieves reasonable tracking performance and exhibits more robust performance concerning parametric uncertainties and disturbances than the traditional SMC.