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Adaptive Sliding Mode Control via Multiscale Super-Twisting Algorithm
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DOI：10.1109/ACCESS.2026.3660973.png)
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Abstract
En 中文
To address the challenges of parametric uncertainties, external load disturbances, and unmodeled fast electrical dynamics in DC motor speed control systems, this paper proposes a novel adaptive sliding mode control via multiscale super-twisting algorithm, which deeply integrates singular perturbation theory with an enhanced adaptive super-twisting structure to provide a unified framework. The design incorporates three key innovations: Firstly, a singularly perturbed super-twisting sliding surface is constructed by introducing an auxiliary state linked to the unmodeled dynamics, significantly enhancing the system’s robustness under coupled slow and fast dynamics. Secondly, an advanced adaptive mechanism is designed to adjust the multiple gains of the super-twisting controller online in real-time, requiring no prior knowledge of the uncertainty bounds and achieving complete self-adaptation. Thirdly, an enhancement to the classical SMC is proposed by incorporating an additional nonlinear feedback term into its control law, which accelerates the convergence rate and effectively mitigates control chattering. To validate the generality and effectiveness of the proposed algorithm, comprehensive tests are conducted on a high-fidelity hardware-in-the-loop experimental platform utilizing a DC motor system. Stability analysis based on Lyapunov theory rigorously proves that all signals in the closed-loop system are uniformly ultimately bounded, and the proposed method distinguishes itself by actively compensating for multiscale dynamics and achieving fully adaptive control without a priori disturbance bounds. Experimental results demonstrate that the proposed method outperforms conventional adaptive SMC methods in terms of transient response, steady-state accuracy, and disturbance rejection, confirming its considerable potential for practical engineering applications.
Keywords:
Adaptive control
multiscale super-twisting algorithm
sliding mode control
singular perturbation
hardware-in-the-loop