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 difficult to choose the suitable value of the parameters. The newly designed adaptive method is used to reduce the effects of system time-varying parameters, such as the moment of inertia and the damp coefficient. The robustness of object is improved. A DO is selected to approximate the compound disturbance and to render the estimate error convergent in finite 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 influence of variable parameters and external disturbance to the control precision of the SISO servo system than other two controllers. The effectiveness 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.
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 difficult to choose the suitable value of the parameters. The newly designed adaptive method is used to reduce the effects of system time-varying parameters, such as the moment of inertia and the damp coefficient. The robustness of object is improved. A DO is selected to approximate the compound disturbance and to render the estimate error convergent in finite 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 influence of variable parameters and external disturbance to the control precision of the SISO servo system than other two controllers. The effectiveness of the proposed controller is showed. The control input stability and robust performances of is reduced. the input saturation system are enhanced and the chattering
作者
岳才成
陈红彬
钱林方
孔建寿
YUE Caicheng;CHEN Hongbina;QIAN Linfang;KONG Jianshoub(a. School of Mechanical Engineerin;b. School of Automation, Nanjing University of Science and Technology, Nanjing 210094, China)
基金
the National Natural Science Foundation of China(No.11472137)
the Natural Science Foundation of Jiangsu Province(No.BK20140773)
