Chattering-Free PID-Nested Nonsingular Terminal Sliding Mode Controller Design for Electrical Servo Drives

Nguyen Minh Trieu, Nguyen Tan No, Truong Nguyen Vu and Nguyen Truong Thinh ()
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Nguyen Minh Trieu: Institute of Intelligent and Interactive Technologies, University of Economics Ho Chi Minh City—UEH, Ho Chi Minh City 72550, Vietnam
Nguyen Tan No: National Institute of Applied Mechanics and Informatics, Vietnam Academy of Science and Technology, Ho Chi Minh City 722000, Vietnam
Truong Nguyen Vu: National Institute of Applied Mechanics and Informatics, Vietnam Academy of Science and Technology, Ho Chi Minh City 722000, Vietnam
Nguyen Truong Thinh: Institute of Intelligent and Interactive Technologies, University of Economics Ho Chi Minh City—UEH, Ho Chi Minh City 72550, Vietnam

Mathematics, 2025, vol. 13, issue 7, 1-11

Abstract: In this study, a PID-nested nonsingular terminal sliding controller is proposed to minimize the chattering phenomenon. By adding both integral and derivative errors of states into the nonsingular terminal sliding manifolds, a composite sliding manifold was created. Compared to nonsingular terminal sliding mode (NTSM) techniques, this sliding manifold can handle higher-order derivatives. The speed of the motor is controlled by a sliding control law determined through a higher-order integral, making the signal continuous, and the sliding manifold is achieved in finite time. A special full-order terminal sliding mode manifold is introduced, which allows the system to converge in finite time while being chattering-free and avoiding the singularity phenomenon of conventional and terminal sliding modes. The controller’s efficiency is demonstrated with faster convergence time and fewer errors than state-of-the-art controllers, which is demonstrated through both simulation and experiment.

Keywords: NTSM; novel reaching law; nested NTSM; PID-nested NTSM (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2025
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