This paper investigates the stability properties and performance of super-twisting sliding-mode control loops subject to periodic perturbations. Although there exist conditions on gains that guarantee finite-time closed-loop system, such are often too restrictive from a practical standpoint, especially in relation actuator limitations induced chatter. Using regularisation averaging theory, it i...

This paper focuses on the speed regulation of a permanent-magnet synchronous motor (PMSM) with an uncertain extended load disturbance. A novel super-twisting sliding-mode control (NSTSMC) was proposed via nonlinear integral sliding surface and modified reaching law, effectively suppressing chattering phenomenon. In addition, NSTSMC can improve convergence performance 0.04 s settling time, satis...

The design process and complexity of existing safety controls are heavily determined by the geometrical properties environment, which affects proof convergence, scalability, performance robustness, numerical efficiency control. Hence, this brief proposes a variable structure control to isolate environment’s from structure. A super-twisting algorithm (STA) is used achieve accurate trajectory tra...

This paper proposes a super-twisting terminal sliding mode-based robust impedance controller to improve the compliance and robustness in robot-environment interaction. Based on desired dynamics, an reference trajectory is constructed. Then, based sliding-mode, designed guarantee achievement of dynamics finite-time through convergence error. The main contribution this that proposed control impro...

In this manuscript, the high-accuracy stator currents tracking issue is considered for a six-phase induction motor subject to external perturbations and uncertainties due unmeasurable rotor electrical parameter variations. To achieve control goals, common two-cascade controllers structure required type of motor. The first controller in outer loop consists proportional integral regulate speed. T...