Adaptive PID sliding surface-based second order sliding mode controller for perturbed nonlinear systems

摘要

This paper presents an adaptive PID sliding surface-based second order sliding mode control algorithm for uncertain nonlinear systems using an adaptive PID controller and second order sliding mode control (SOSMC). In the adopted control algorithm, the SOSMC, which is published recently in the literature for linear systems, is extended to nonlinear systems and combined with an adaptive PID sliding surface. The PID sliding surface parameters are adapted online using an adaptation algorithm. The proposed control algorithm (APID-SOSMC) is derived based on Lyapunov stability criterion such that the stability of the overall system is guaranteed. Numerical simulations with dynamical model of the nonlinear inverted pendulum system are presented to demonstrate the effectiveness of the designed controller and proof the system robustness against parameters uncertainty and external load disturbances.