Integral sliding mode control based on barrier function for servo actuator with friction
Joint Authors
al-Samirrai, Shibli Ahmad
Abd, Anmar F.
Source
Engineering and Technology Journal
Issue
Vol. 39, Issue 2A (28 Feb. 2021), pp.248-259, 12 p.
Publisher
Publication Date
2021-02-28
Country of Publication
Iraq
No. of Pages
12
Main Subjects
Topics
Abstract EN
This paper proposes the use of the integral sliding mode control (ISMC) based on the barrier function to control the servo actuator system with friction.
Based on the barrier function, the main features of the ISMC design were preserved, additionally, the proposed control design is done without the need to know the bound on the system model uncertainty, accordingly, the overestimation of the control gain doesn’t take place and the chattering is eliminated.
Moreover, the steady-state error can be adjusted via selecting the barrier function parameter only.
The simulation results demonstrate the performance of the proposed ISMC based on the barrier function where the system angle successfully follows the desired angular position with a small pre-adjusted steady-state error.
Additionally, the obtained results clarify superior features compared with a traditional ISMC designed to the same actuator.
American Psychological Association (APA)
Abd, Anmar F.& al-Samirrai, Shibli Ahmad. 2021. Integral sliding mode control based on barrier function for servo actuator with friction. Engineering and Technology Journal،Vol. 39, no. 2A, pp.248-259.
https://search.emarefa.net/detail/BIM-1281596
Modern Language Association (MLA)
Abd, Anmar F.& al-Samirrai, Shibli Ahmad. Integral sliding mode control based on barrier function for servo actuator with friction. Engineering and Technology Journal Vol. 39, no. 2A (2021), pp.248-259.
https://search.emarefa.net/detail/BIM-1281596
American Medical Association (AMA)
Abd, Anmar F.& al-Samirrai, Shibli Ahmad. Integral sliding mode control based on barrier function for servo actuator with friction. Engineering and Technology Journal. 2021. Vol. 39, no. 2A, pp.248-259.
https://search.emarefa.net/detail/BIM-1281596
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references : p. 258-259
Record ID
BIM-1281596