PID sliding surface-based adaptive dynamic second-order fault-tolerant sliding mode control design and experimental application to an electromechanical system

Abstract

In this paper, an adaptive dynamic PID sliding surface-based second-order fault-tolerant sliding mode controller for speed control of an electromechanical system is proposed. The paper aims to show how to utilise the robust properties of second-order adaptive dynamic sliding mode control on the problem of structural damage fault. Structural damage fault is apparently studied less than faults of actuator and sensor. Because of this reason, this study focuses on the structural damage fault. In order to solve the chattering which is the main problem of first-order/ traditional SMC, second-order controller is designed. The Lyapunov theorem is used for affirming the design and stability of the closed-loop system. Experimental results show that the control system with the proposed controller is easily implemented. Also, the proposed fault-tolerant controller, concerning parametric uncertainties and disturbances, acquire suitable tracking performance and shows more robustness than the traditional SMC.

Keywords:

• Structural damage
• sliding mode control
• fault-tolerant control
• nonlinear control
• electromechanical system

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Correction

Acknowledgments

The authors express their sincere thanks to the referee(s) for the careful and details reading of the manuscript.

Disclosure statement

No potential conflict of interest was reported by the author(s).

Correction Statement

This article was originally published with errors, which have now been corrected in the online version. Please see Correction (https://doi.org/10.1080/00207179.2023.2177040).