Izvorni znanstveni članak

https://doi.org/10.17559/TV-20250710002814

Backstepping Sliding Mode Controller Design for Series DC Motor Control under Parameter Uncertainty and Disturbance

Hamed Khaled Shreiteh ; Department of Mechatronics Engineering, Karabuk University, 78050, Merkez, Karabük, Turkey
Hilmi Aygün ; Department of Mechatronics Engineering, Karabuk University, 78050, Merkez, Karabük, Turkey *

* Dopisni autor.

Sažetak

Series DC motors are commonly used in applications such as elevators, cranes, and electric trains due to their high starting torque. However, their nonlinear characteristics make conventional PID controllers inadequate, particularly in handling parameter uncertainties and external disturbances. Furthermore, improper tuning of PID parameters can lead to system instability. To address these challenges and improve both transient and dynamic performance, this paper proposes a backstepping sliding mode controller. The proposed method combines the advantages of backstepping and sliding mode control, ensuring robust performance and system stability through Lyapunov-based analysis. The controller's effectiveness is evaluated through MATLAB simulations under scenarios involving sudden speed changes, load disturbances, and ±50% parameter uncertainty. Comparative results demonstrate that the proposed controller outperforms conventional backstepping and sliding mode controllers, offering superior robustness and dynamic response.

Ključne riječi

backstepping control; backstepping sliding mode control; nonlinear control; series DC motor; sliding mode control

Hrčak ID:

348703

URI

https://hrcak.srce.hr/348703

Datum izdavanja:

30.6.2026.

Posjeta: 0 *