The Effective Chattering Suppression Technique with Adaptive Super-Twisted Sliding Mode Controller Based on the Quasi-Barrier Function; An Experimentation Setup

The paper presents a modified adaptation algorithm for the super-twisted sliding mode controller structure, based on the barrier function method. The aim of the paper is to reduce the chattering phenomena of the controller, which limited the use of the controller in different applications. The chattering phenomena are mostly caused by the overestimated controller gain due to the assumed disturbance bound, which is mostly inaccurate. The chattering origins are also the unknown parasitic dynamic of the system and discrete implementation of the controller. The proposed method with the Barrier function is used to alleviate the chattering phenomena with the adaptation of the controller parameters. The novelty of the method is using an adaptation procedure only in prescribed regions of the sliding variable, otherwise, the adaptation is not used. The advantage of the method is the proper rejection of the chattering phenomena in the vicinity of the manifold of the sliding variable, regardless of the order of the system. With proper selection of the adaptation boundary, the effect of discrete implementation, especially for a longer sampling time of the algorithm, can be suppressed efficiently, as well as the effect of the overestimated controller parameters. The proposed method is verified and compared with a standard version of the algorithm in simulation and real-time environments.