Chattering-eliminated adaptive sliding-mode control: an experimental comparison study

The present paper deals with a new adaptive sliding-mode control. The switching and equivalent control laws include adaptive gains. An error-dependent adaptive gain in the switching control law and an adaptive parameter in the equivalent control law with respect to open-loop transient response of the system are proposed to eliminate chattering and to increase the performance of the controller. The proposed approach results in chattering elimination without using any complex calculation-based methods, which is highly useful for practical applications. The number of independent gains is also minimized. Therefore, tuning of those gains is simplified. The proposed controller is compared experimentally using an electromechanical system with five different conventional sliding-mode controllers presented in the literature. The experimental results are presented to show the effectiveness of the proposed controller particularly regarding the accuracy of control input, disturbance rejection, and being an alternative controller to use in industrial applications.

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