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A Novel Sliding Mode Control for a Class of Second‐order Mechanical Systems
Author(s) -
Sheng Yongzhi,
Wang Liang,
Liu Xiangdong
Publication year - 2016
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.1268
Subject(s) - control theory (sociology) , overshoot (microwave communication) , sliding mode control , pid controller , variable structure control , parametric statistics , mode (computer interface) , variable (mathematics) , mechanical system , function (biology) , class (philosophy) , computer science , engineering , nonlinear system , control engineering , mathematics , control (management) , physics , artificial intelligence , temperature control , telecommunications , mathematical analysis , statistics , quantum mechanics , evolutionary biology , biology , operating system
This paper considers the tracking control problem of a class of second‐order mechanical systems involving parametric uncertainty and external disturbance by a sliding mode control (SMC) without reaching phase. Specifically, an SMC strategy with modified variable‐gain proportional–integral–derivative (PID)‐type sliding function is proposed, by which the existence of a sliding mode throughout an entire response of the system starting from the initial time instance is ensured. Meanwhile, the introduction of a variable gain in the sliding function design effectively solves the dilemma between quicker response and smaller overshoot. The effectiveness of the proposed strategy is verified by both theoretical analysis and simulation results.