Fractional power rate reaching law for augmented sliding mode performance |
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| Authors: | G Rohith |
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| Institution: | 1. Electrical and Electronic Engineering Department, Shahed University, Tehran, Iran;2. Electrical and Computer Engineering Department, Qom University of Technology, Qom, Iran;3. Departament de Telecomunicació i Enginyeria de Sistemes, Escolad''Enginyeria. UniversitatAutònoma de Barcelona, Barcelona, Spain;1. Department of Electrical Engineering and Information Systems, University of Pannonia Egyetem street 10. Veszprém, H-8200 Hungary;7. Process Control Research Group, Control and Automation Research Institute, HAS, Kende street 13-17. Budapest, H-1111, Hungary;1. Department of Biological Engineering, Indian Institute of Technology, Gandhinagar, Gujarat, India;2. Electrical Engineering Department, B & B. Institute of Technology, Vallabh Vidyanagar, Gujarat, India;3. Department of Electrical Engineering, Institute of Infrastructure Technology Research And Management (IITRAM), Ahmedabad, Gujarat, India |
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| Abstract: | High-frequency control switching, chattering, limits the practical application of sliding mode controllers. This paper proposes an enhanced reaching law, viz., Fractional Power Rate Reaching Law (FPRRL), for the design of sliding mode controllers to mitigate the chattering problem. Controller gains are selected to accommodate variations in switching function dynamically to prevent over-actuation near the sliding surface, which is the primary reason for chattering. Chattering mitigation is achieved without compromising other attributes of sliding mode control. Performance enhancements in the attributes, viz., reaching time, robustness, and reduced chattering magnitude have been established through the methodical analysis of the new reaching law. The proposed control strategy is then bench-marked with the state of the art reaching law methods through simulations by considering a twin-rotor MIMO system control problem. |
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