Date of Award
Master of Science in Engineering (MSE)
Mechanical and Aerospace Engineering
Naga Venkat Adurthi
Sliding mode control, Boundary layer, Aerodynamic noise
When a nonlinear system is controlled using the conventional sliding mode control, the system input will create a high-frequency chatter, which can damage the system's actuators. The most common method used to prevent chattering is the introduction of a constant boundary layer, but if the disturbance is high, then chattering can still happen in the system input. In this thesis, a sliding mode controller with an adaptive boundary layer is proposed for multi-input-multi-output systems that prevent chattering, even if the disturbance is high. To demonstrate the effectiveness of the proposed controller in suppressing chatter, a robotic arm was modeled in Matlab's Simulink. Results show that when a disturbance is added, the controller with the constant boundary layer is chattering, whereas the control input for the adaptive boundary layer is still smooth.
Lodge, Tiffany, "Adaptive boundary layer sliding mode control for multi-input-multi-output systems" (2023). Theses. 465.