Adaptive Sliding-Mode Tracking Control for an Uncertain Nonlinear SISO Servo System with a Disturbance Observer

doi:10.1007/s12204-018-1953-6

Abstract

Abstract: An adaptive sliding mode controller with a disturbance observer (ASMC-DO) is proposed for the control of a single-input and single-output (SISO) servo system which has uncertain parameters, nonlinear friction, disturbance and input saturation. It is di±cult to choose the suitable value of the parameters. The newly designed adaptive method is used to reduce the e?ects of system time-varying parameters, such as the moment of inertia and the damp coe±cient. The robustness of object is improved. A DO is selected to approximate the compound disturbance and to render the estimate error convergent in ˉnite time. The stability and the convergence of the closed-loop system are proved by using the Lyapunov theory. Experimental results show that the proposed ASMC-DO can better satisfy the in°uence of variable parameters and external disturbance to the control precision of the SISO servo system than other two controllers. The e?ectiveness of the proposed controller is showed. The control input stability and robust performances of the input saturation system are enhanced and the chattering is reduced.

Key words: adaptive sliding mode controller| disturbance observer| input saturation| uncertain nonlinear SISO servo system

摘要： An adaptive sliding mode controller with a disturbance observer (ASMC-DO) is proposed for the control of a single-input and single-output (SISO) servo system which has uncertain parameters, nonlinear friction, disturbance and input saturation. It is di±cult to choose the suitable value of the parameters. The newly designed adaptive method is used to reduce the e?ects of system time-varying parameters, such as the moment of inertia and the damp coe±cient. The robustness of object is improved. A DO is selected to approximate the compound disturbance and to render the estimate error convergent in ˉnite time. The stability and the convergence of the closed-loop system are proved by using the Lyapunov theory. Experimental results show that the proposed ASMC-DO can better satisfy the in°uence of variable parameters and external disturbance to the control precision of the SISO servo system than other two controllers. The e?ectiveness of the proposed controller is showed. The control input stability and robust performances of the input saturation system are enhanced and the chattering is reduced.

关键词: adaptive sliding mode controller| disturbance observer| input saturation| uncertain nonlinear SISO servo system

CLC Number:

TP 273

YUE Caichenga (岳才成), CHEN Hongbina (陈红彬), QIAN Linfanga (钱林方), KONG Jianshoub (孔建寿). Adaptive Sliding-Mode Tracking Control for an Uncertain Nonlinear SISO Servo System with a Disturbance Observer[J]. Journal of Shanghai Jiao Tong University (Science), 2018, 23(3): 376-.

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