Design of optimal sliding mode controllers for electrical servo drive system under disturbance

Abstract

This paper presents the design of three types of optimal sliding mode controllers (SMCs); the classical sliding mode controller (CSMC), the modified sliding mode controller (MSMC), and the integral sliding mode controller (ISMC), for position control of the electrical servo drive system under disturbance. The sliding mode control methodology is considered one of the best approaches for the robust controller design and the chattering phenomenon in the control effort of the CSMC is attenuated by using the boundary layer method. The Fruit Fly optimization (FFO) algorithm has been utilized to get and tune the gain variable of the proposed sliding mode controllers and the thickness of the boundary layer function in order to find the best current action for the system. The numerical simulation results obtained by using MATLAB package reveal that all controllers can give excellent performance; however, in terms of minimizing the settling time, hitting time, and the amplitude of chattering phenomenon in the control effort, the performance of the optimal ISMC is better than those of the optimal CSMC and optimal MSMC. Moreover, the fitness evaluation value is reduced.