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Chattering-Free PID-Nested Nonsingular Terminal Sliding Mode Controller Design for Electrical Servo Drives

Author

Listed:
  • Nguyen Minh Trieu

    (Institute of Intelligent and Interactive Technologies, University of Economics Ho Chi Minh City—UEH, Ho Chi Minh City 72550, Vietnam
    Vietnam Academy of Science and Technology, Graduate University of Science and Technology, Hanoi 100000, Vietnam)

  • Nguyen Tan No

    (National Institute of Applied Mechanics and Informatics, Vietnam Academy of Science and Technology, Ho Chi Minh City 722000, Vietnam)

  • Truong Nguyen Vu

    (National Institute of Applied Mechanics and Informatics, Vietnam Academy of Science and Technology, Ho Chi Minh City 722000, Vietnam)

  • Nguyen Truong Thinh

    (Institute of Intelligent and Interactive Technologies, University of Economics Ho Chi Minh City—UEH, Ho Chi Minh City 72550, Vietnam)

Abstract

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.

Suggested Citation

  • Nguyen Minh Trieu & Nguyen Tan No & Truong Nguyen Vu & Nguyen Truong Thinh, 2025. "Chattering-Free PID-Nested Nonsingular Terminal Sliding Mode Controller Design for Electrical Servo Drives," Mathematics, MDPI, vol. 13(7), pages 1-11, April.
    • Handle: RePEc:gam:jmathe:v:13:y:2025:i:7:p:1197-:d:1628506
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    References listed on IDEAS

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    1. Zhang, Xinfang & Zhang, Zhe & Liu, Yang & Xu, Zhigang & Qu, Xiaobo, 2024. "A review of machine learning approaches for electric vehicle energy consumption modelling in urban transportation," Renewable Energy, Elsevier, vol. 234(C).
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