Yüksek dereceli kayan kipli kontrol

The sliding-mode control is known as robust control technique against uncertainties and disturbances. Its well-known drawback is the undesired control activity, so-called chattering, which cannot be compensated by the real actuators. This phenomenon is highly dangerous for the real systems when its magnitude is larger. Chattering reduces performance of the controller while the system is under heavy uncertain conditions and external load disturbances. In the present thesis, high-order sliding-mode control is studied. First-order and second-order sliding-mode control algorithms are proposed to increase performance of the sliding-mode control keeping the robustness property for the uncertain real systems. Theory of the proposed algorithms is presented with stability proofs. In addition, experimental applications to an electromechanical system are performed to verify performance of the proposed algorithms. Furthermore, similar algorithms in the literature are considered for comparison. The experimental results are presented both graphically and statistically to confirm the applicability of the proposed algorithms to the uncertain real systems.