Twisting, Super Twisting and Adaptive Algorithm Sliding Mode Controller for Second Order Time Delay Systems

Abstract

The sliding mode control approach is widely considered as one of the most effective methods for designing a reliable controller for a complicated higher-order dynamic plant operating under uncertainty. The primary advantages of sliding mode is its low sensitivity to changes in plant parameters and the ability to entirely eliminate disruptions. Sliding mode control has been widely applied as a robust control design methodology that is completely insensitive to uncertainties, and research on sliding mode control strategy is a robust control design methodology that is completely insensitive to uncertainties is greatly motivated as challenges and demand grow. It's worth noting that a variety of enhanced sliding mode control schemes have been developed, each with its own set of desirable features. In this thesis regulation of second order plus time delay systems plays a vital role. Sliding mode control is a robust control strategy. To regulate these systems and also to improve the performance under disturbance conditions sliding mode control strategy is adapted. Pade approximations (0/1) are used for representation of the constant time delay and here (0/1) approximation is adapted. Simulation studies have been performed for these systems in the MATLAB environment and briefly presented in this work. The second order sliding mode scheme covered in this thesis are: Twisting algorithm, Super-Twisting algorithm and adaptive algorithm.

Keywords:sliding mode control,pade approximations,time delay systems, PID controller, second order sliding mode controller, robust controller.