Chattering-Free PID-Nested Nonsingular Terminal Sliding Mode Controller Design for Electrical Servo Drives
In this study, a PID-nested nonsingular terminal sliding controller is proposed to minimize the chattering phenomenon. By adding both integral and derivative errors of states into the nonsingular terminal sliding manifolds, a composite sliding manifold was created. Compared to nonsingular terminal s...
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MDPI AG
2025-04-01
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| Series: | Mathematics |
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| author | Nguyen Minh Trieu Nguyen Tan No Truong Nguyen Vu Nguyen Truong Thinh |
| author_facet | Nguyen Minh Trieu Nguyen Tan No Truong Nguyen Vu Nguyen Truong Thinh |
| author_sort | Nguyen Minh Trieu |
| collection | DOAJ |
| description | In this study, a PID-nested nonsingular terminal sliding controller is proposed to minimize the chattering phenomenon. By adding both integral and derivative errors of states into the nonsingular terminal sliding manifolds, a composite sliding manifold was created. Compared to nonsingular terminal sliding mode (NTSM) techniques, this sliding manifold can handle higher-order derivatives. The speed of the motor is controlled by a sliding control law determined through a higher-order integral, making the signal continuous, and the sliding manifold is achieved in finite time. A special full-order terminal sliding mode manifold is introduced, which allows the system to converge in finite time while being chattering-free and avoiding the singularity phenomenon of conventional and terminal sliding modes. The controller’s efficiency is demonstrated with faster convergence time and fewer errors than state-of-the-art controllers, which is demonstrated through both simulation and experiment. |
| format | Article |
| id | doaj-art-9f31b63cd20f4f5f8aae2de4337ffcc7 |
| institution | DOAJ |
| issn | 2227-7390 |
| language | English |
| publishDate | 2025-04-01 |
| publisher | MDPI AG |
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| series | Mathematics |
| spelling | doaj-art-9f31b63cd20f4f5f8aae2de4337ffcc72025-08-20T03:06:27ZengMDPI AGMathematics2227-73902025-04-01137119710.3390/math13071197Chattering-Free PID-Nested Nonsingular Terminal Sliding Mode Controller Design for Electrical Servo DrivesNguyen Minh Trieu0Nguyen Tan No1Truong Nguyen Vu2Nguyen Truong Thinh3Institute of Intelligent and Interactive Technologies, University of Economics Ho Chi Minh City—UEH, Ho Chi Minh City 72550, VietnamNational Institute of Applied Mechanics and Informatics, Vietnam Academy of Science and Technology, Ho Chi Minh City 722000, VietnamNational Institute of Applied Mechanics and Informatics, Vietnam Academy of Science and Technology, Ho Chi Minh City 722000, VietnamInstitute of Intelligent and Interactive Technologies, University of Economics Ho Chi Minh City—UEH, Ho Chi Minh City 72550, VietnamIn this study, a PID-nested nonsingular terminal sliding controller is proposed to minimize the chattering phenomenon. By adding both integral and derivative errors of states into the nonsingular terminal sliding manifolds, a composite sliding manifold was created. Compared to nonsingular terminal sliding mode (NTSM) techniques, this sliding manifold can handle higher-order derivatives. The speed of the motor is controlled by a sliding control law determined through a higher-order integral, making the signal continuous, and the sliding manifold is achieved in finite time. A special full-order terminal sliding mode manifold is introduced, which allows the system to converge in finite time while being chattering-free and avoiding the singularity phenomenon of conventional and terminal sliding modes. The controller’s efficiency is demonstrated with faster convergence time and fewer errors than state-of-the-art controllers, which is demonstrated through both simulation and experiment.https://www.mdpi.com/2227-7390/13/7/1197NTSMnovel reaching lawnested NTSMPID-nested NTSM |
| spellingShingle | Nguyen Minh Trieu Nguyen Tan No Truong Nguyen Vu Nguyen Truong Thinh Chattering-Free PID-Nested Nonsingular Terminal Sliding Mode Controller Design for Electrical Servo Drives Mathematics NTSM novel reaching law nested NTSM PID-nested NTSM |
| title | Chattering-Free PID-Nested Nonsingular Terminal Sliding Mode Controller Design for Electrical Servo Drives |
| title_full | Chattering-Free PID-Nested Nonsingular Terminal Sliding Mode Controller Design for Electrical Servo Drives |
| title_fullStr | Chattering-Free PID-Nested Nonsingular Terminal Sliding Mode Controller Design for Electrical Servo Drives |
| title_full_unstemmed | Chattering-Free PID-Nested Nonsingular Terminal Sliding Mode Controller Design for Electrical Servo Drives |
| title_short | Chattering-Free PID-Nested Nonsingular Terminal Sliding Mode Controller Design for Electrical Servo Drives |
| title_sort | chattering free pid nested nonsingular terminal sliding mode controller design for electrical servo drives |
| topic | NTSM novel reaching law nested NTSM PID-nested NTSM |
| url | https://www.mdpi.com/2227-7390/13/7/1197 |
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