Robust Continuous Control for a Class of Mechanical Systems Based on Nonsingular Terminal Sliding Mode

• Published in: IEEE access Vol. 8; pp. 19297 - 19305
• Main Authors: Rascon, Raul, Rosas, David I., Rodriguez-Quinonez, Julio C.
• Format: Journal Article
• Language: English
• Published: Piscataway IEEE 2020; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Actuators; Control stability; Controllers; Mechanical systems; nonsingular terminal sliding mode control; Pendulums; Proportional integral derivative; Robust control; Sliding mode control; Stability analysis; Trajectory; Transient analysis; Uncertainty; uncertainty and disturbance estimator
• ISSN: 2169-3536; 2169-3536
• DOI: 10.1109/ACCESS.2020.2965596

In this paper is proposed a control structure for a class of mechanical systems; this structure consists of a continuous controller based on nonsingular terminal sliding mode control plus uncertainty and disturbance estimator. Closed-loop stability is proved by designing an adequate sliding surface and showing the existence of sliding modes by the fulfillment of the reaching law. A controllers comparison using the nonsingular terminal sliding mode, first-order sliding mode, PID, and the proposed control structure is carried out through numerical simulations of a pendulum system, where the l 2 index is used to measure the performance of the controllers. Moreover, real-time experiments are performed in a mechanical system with a pneumatic actuator. The theoretical, numerical, and experimental results validate the feasibility, performance, and robustness of the proposed control structure.