Chattering-free robust adaptive sliding-mode control for switched reluctance motor drive

This paper describes a robust adaptive sliding mode control for the speed control of a four-phase, uncertain, switched reluctance motor (SRM). The main objective is to minimize torque ripples with controller effort smoothness while the system is under perturbations by structured uncertainties, unknown parameters and external disturbances. The control algorithm employs an adaptive approach to remove the need for prior knowledge within the bound of perturbations. This is suitable for tackling the chattering problem in the sliding motion of sliding mode control method. In order to achieve control effort smoothness and more effective elimination of chattering, the algorithm then incorporates proper modifications in order to build a chattering-free modified robust adaptive sliding mode control (RASMC) using Lyapunov stability theory. The effectiveness of the proposed controller is validated by experimental results.