Sliding mode control for direct current motor system with multi-channels and external disturbances

Abstract

To solve the deficiencies of speed-tracking control for DC motor systems with multiple transmission channels and external disturbances in recent remote-control systems, a second-order super twisting sliding mode control method is proposed. First, the model of a DC motor with multiple channels and external disturbances is considered. Then, an observer in the form of the super twisting algorithm is presented to estimate the states of the system. Furthermore, a second-order super twisting sliding mode control algorithm based on the super twisting observer is designed to track the speed of the DC motor. In this, a nonlinear term is constructed to restrain the external disturbances and jitters while switching among the channels. Also, the proposed method is testified to be stable. Finally, both simulations and practical experiments are conducted to demonstrate the availability of the methodology.