Continuous Second Order Sliding Mode Control With On Line Tuned PID
نویسندگان
چکیده
Abstract—This paper presents a robust control algorithm based on adaptive proportional-integral-derivative (PID) controller and sliding mode control (SMC) approach. In this paper, the drawbacks of SMC are compensated by adopting an adaptive PID continuous second order sliding mode control approach (APID2SMC) with PID sliding surface. The stability of the system is guaranteed in the sense of Lyapunov theorem. Numerical simulations using the dynamic model of DC motor with modeling uncertainties show that the proposed approach provides robustness for trajectory tracking performance under the occurrence of uncertainties. These simulation results compared to the results of conventional sliding mode control (CSMC) and PID control approaches indicate that the proposed method yields superior performance than the other controllers.
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