Improved Control of the Web Winding System Based on a Super-Twisting Observer
Abdelmajid Akil1, Abdelwahed Touati2, Mourad Zegrari3, Radouane Majdoul4 and Nabila Rabbah5
1Abdelmajid Akil, Department of Electrical Engineering, Laboratory of Structural Engineering, Intelligent Systems and Electrical Energy, National Higher School of Arts and Crafts (ENSAM), Hassan II University, Casablanca, MOROCCO.
2Abdelwahed Touati, Research Professor Laboratory of Structural Engineering, Intelligent Systems & Electrical Energy ENSAM, Department of Electrical Engineering – Hassan II University Casablanca, Morocco.
3Mourad Zegrari, Research Professor Laboratory of Structural Engineering, Intelligent Systems & Electrical Energy ENSAM, Department of Electrical Engineering – Hassan II University Casablanca, Morocco.
4Radouane Majdoul, Research Professor Laboratory of Structural Engineering, Intelligent Systems & Electrical Energy ENSAM, Department of Electrical Engineering – Hassan II University Casablanca, Morocco.
5Nabila Rabbah, Research Professor Laboratory of Structural Engineering, Intelligent Systems & Electrical Energy ENSAM, Department of Electrical Engineering – Hassan II University Casablanca, Morocco.
Manuscript received on 7 August 2019. | Revised Manuscript received on 15 August 2019. | Manuscript published on 30 September 2019. | PP: 2753-2760 | Volume-8 Issue-3 September 2019 | Retrieval Number: C4651098319/2019©BEIESP | DOI: 10.35940/ijrte.C4651.098319
Open Access | Ethics and Policies | Cite | Mendeley | Indexing and Abstracting
© The Authors. Blue Eyes Intelligence Engineering and Sciences Publication (BEIESP). This is an open access article under the CC-BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)
Abstract: The web winding system (WWS) presents a difficult problem at the level of control because of the strong nonlinearities of the models and the effects of internal or external disturbances. To improve the dynamic performance and robustness of the control of WWS, a robust control method based on the first and second order sliding mode algorithm is proposed in this work. The stability of the controllers is proved by the theory of Lyapunov stability using an appropriate switching function. In addition, an observer of super twisting tensions is suggested. The developed method allows a direct estimate “on line” of the tension. Finally, computer simulations are developed to show the performance of the sliding mode control and the proposed nonlinear observer.
Keywords: Web Winding System; Lyapunov; Sliding Mode; Super-Twisting
Scope of the Article: Robotics and Control