Backstepping Sliding Mode Tracking Controller Design and Experimental Application to an Electromechanical System

Abstract

In this paper, a backstepping sliding mode control (BSMC) system based on the Lyapunov stability criterion is put forwardto control the angular velocity of an electromechanical system to closely track the desired trajectory in spite of parameter uncertainties, nonlinear dynamics, and disturbances. In addition, for comparison purposes a conventional sliding mode controller and a backstepping controller are designed. Experimental results of the proposed BSMC are compared with those of the other two controllers. The proposed BSMC accomplishes satisfactory trajectory tracking performance, and it is more robust pertaining to parametric uncertainties and disturbances than the others.