Towards Prescribed Accuracy in Under-tuned Super-Twisting Sliding Mode Control Loops -- Experimental Verification

TL;DR

This paper experimentally verifies that lower controller gains in super-twisting sliding mode control can achieve prescribed accuracy bounds in high-performance systems, addressing actuator limitations and chatter issues.

Contribution

It provides experimental evidence supporting the systematic gain selection method for prescribed accuracy in super-twisting control loops.

Findings

Lower gains can ensure bounded solutions within accuracy bounds.

Experimental validation on industrial motors confirms theoretical predictions.

Addresses actuator limitations and chatter in high-performance control systems.

Abstract

Obtaining prescribed accuracy bounds in super-twisting sliding mode control loops often falls short in terms of the applicability of the controller in high-performance systems. This is due to the fact that the selection of the controller gains that are derived from the conditions for finite-time convergence may be too restrictive in connection to actuator limitations and induced chatter. Previous work has shown that in case of periodic perturbations, there can be a systematic selection of much lower controller gains that guarantees boundedness of the closed-loop solutions within predetermined accuracy bounds. This study presents an experimental validation of these findings carried out on a commercial industrial motor system.