Modified Integral Sliding Mode Control of Motion System

The paper is oriented to the problem of the accurate trajectory tracking in motion control systems suffering from intensive parametric and signal disturbances. To assure both the robustness and the accuracy of the control process, theory of variable structure control, specifically the integral sliding mode control combined with the time suboptimal one, has been utilized. The modification of this original control method, suitable for the implementation in real motion systems and guaranteeing the undesirable chattering reduction, comprises the continuous approximation of the nonlinear control element and the corresponding switching function parameter synthesis. Numeric simulation on the motion system model demonstrates the feasibility and reliability of the proposed control algorithm along with the quality of the resultant tracking performance despite the driving torque boundary required by a technology.