Integral Sliding Mode Control Based on Barrier Function for Servo Actuator with Friction

Authors

• Anmar F. Abd, Control and System Engineering Department, University of Technology, Baghdad, Iraq, 61359@student.uotechnology.edu.iq.
• Shibly A. Al-Samarraie, Control and System Engineering Department, University of Technology, Baghdad, Iraq, 60132@uotechnology.edu.iq.

Keywords

Barrier function, Integral sliding mode control, Servo actuator, Friction model

Document Type

Research Paper

Abstract

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.

Recommended Citation

F. Abd, Anmar and A. Al-Samarraie, Shibly () "Integral Sliding Mode Control Based on Barrier Function for Servo Actuator with Friction," Engineering and Technology Journal: Vol. 39: Iss. 2, Article 8.
DOI: https://doi.org/10.30684/etj.v39i2A.1826

DOI

10.30684/etj.v39i2A.1826

First Page

248

Last Page

259