Design of an adaptive super-twisting decoupled terminal sliding mode control scheme for a class of fourth-order systems

Donya Ashtiani Haghighi; Saleh Mobayen

doi:10.1016/j.isatra.2018.02.006

Design of an adaptive super-twisting decoupled terminal sliding mode control scheme for a class of fourth-order systems

ISA Trans. 2018 Apr:75:216-225. doi: 10.1016/j.isatra.2018.02.006. Epub 2018 Feb 16.

Authors

Donya Ashtiani Haghighi¹, Saleh Mobayen²

Affiliations

¹ Electrical Engineering Department, University of Zanjan, Zanjan, Iran.
² Electrical Engineering Department, University of Zanjan, Zanjan, Iran. Electronic address: mobayen@znu.ac.ir.

PMID: 29455889
DOI: 10.1016/j.isatra.2018.02.006

Abstract

This paper proposes an adaptive super-twisting decoupled terminal sliding mode control technique for a class of fourth-order systems. The adaptive-tuning law eliminates the requirement of the knowledge about the upper bounds of external perturbations. Using the proposed control procedure, the state variables of cart-pole system are converged to decoupled terminal sliding surfaces and their equilibrium points in the finite time. Moreover, via the super-twisting algorithm, the chattering phenomenon is avoided without affecting the control performance. The numerical results demonstrate the high stabilization accuracy and lower performance indices values of the suggested method over the other ones. The simulation results on the cart-pole system as well as experimental validations demonstrate that the proposed control technique exhibits a reasonable performance in comparison with the other methods.

Keywords: Adaptive tuning; Cart-pole system; Decoupled sliding mode control; Terminal sliding mode control; Unknown uncertainties.