Stabilization of Ball-On-Sphere System with Super Twisting (ST) Sliding Mode Control (SMC) as a Method of Chattering Reduction

Stabilization of Ball-On-Sphere System with Super Twisting (ST) Sliding Mode Control (SMC) as a Method of Chattering Reduction

Автор: Usman Mohammeda, Suleiman U. Hussein, Gokhan Koyunlu

Журнал: International Journal of Engineering and Manufacturing @ijem

Статья в выпуске: 5 vol.10, 2020 года.

Бесплатный доступ

A SMC for the ball-on-sphere system was designed in this work. The mathematical system’s model was first derived and a SMC was designed. Then, Lyapunov’s method was used to test for the convergence on the sliding surface, and convergence of the system's states to the sliding surface was guaranteed. To reduce chattering, a super twisting SMC was designed. A controller that is linear was first given to the system and the simulation results showed that, while there is disturbance, achieving origin’s asymptotic stability is not viable. A SMC was then applied next, while there is disturbance, origin’s asymptotic stability was attained in finite-time. Then a 2nd order SMC was applied and the results showed faster origin’s asymptotic stability in finite time. Therefore, the real effect of applying a 2nd order SMC is faster asymptotic stability of the origin1. To reduce chattering, a ST SMC was applied and the chattering was observed to be reduced efficiently.

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SMC, ST SMC, Ball-on-sphere, Chattering, System

Короткий адрес: https://sciup.org/15017318

IDR: 15017318   |   DOI: 10.5815/ijem.2020.05.01

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