|Design of Super Twisting Algorithm for Chattering Suppression in Machine Tools
Chiew Tsung Heng*, Zamberi Jamaludin, Ahmad Yusairi Bani Hashim, Lokman Abdullah, and Nur Aidawaty Rafan
International Journal of Control, Automation, and Systems, vol. 15, no. 3, pp.1259-1266, 2017
Abstract : "Sliding mode control is known for its robustness against plant uncertainties and disturbance rejection.
An extension of this technique is the addition of super twisting algorithm that suppresses the chattering effect
commonly observed with sliding mode control application. This paper elaborates on the design and analysis of
the super twisting algorithm with focus on optimizing the gain parameters. Two main components of the sliding
mode super twisting controller were designed and validated; that is, the switching function and the control laws.
The traditional sliding surface was used as the switching function while control laws with continuous control action
were applied. Two gain parameters of the control laws were designed and analyzed in terms of tracking error
reduction and chattering effect. A Kalman-Bucy continuous filter was applied for velocity signal estimation. Fast
Fourier Transform was applied on the control inputs to investigate the chattering amplitude and root mean square
of the tracking error was used as performance indicator for tracking error reduction. Analyses were performed
on the effect of gains variation to control performance. Experimental results showed that gain L was sensitive to
chattering amplitude while gain W provided wider range of tuning. The control performance was compared to
the traditional pseudo-sliding mode controller in terms of tracking error reduction and chattering effect. Results
showed that the super twisting algorithm produced superior results in tracking error reduction and was effective in
suppressing chattering effect compared to the pseudo-sliding mode controller."
Accuracy, machine tools, precision, sliding mode control, super twisting algorithm.