Adaptive sliding mode control for chain driving system with disturbance observer

Abstract

The design and implementation of adaptive sliding mode control with disturbance observer for chain driving system driven by permanent magnet synchronous motor with parameter variation, meshing impact and large friction are addressed in this study. First, an adaptive model compensation control law is designed for perfect position tracking, while a nonlinear disturbance observer is investigated to estimate the normalized disturbance, which is fast changing due to the severe polygon effect, the meshing impact and so on. To further improve the robustness and the control performance, the translation-width idea is embedded into the adaptive sliding mode control with disturbance observer system, which can suppress the chattering phenomenon caused by imperfect switching in traditional sliding mode control. Moreover, the translation width is online updated using an adaptive mechanism, which is delivered in the Lyapunov sense. Thus, the stability of the closed-loop system is guaranteed in the Lyapunov stability theorem sense. Experimental results show that the proposed adaptive sliding mode control with disturbance observer scheme is insensitive to parameter variation, meshing impact, large friction and so on, and has a better control performance compared with the traditional adaptive sliding mode control and the disturbance observer–based sliding mode control.

On disturbance rejection control for inertial stabilization of long-distance laser positioning with movable platform

“…Remark 1. Theorem 1 shows that the compensator C f1 (s) can recover the ''total disturbances''D t (s) in the given frequency region by tuning n 1 and selecting a sufficiently large K 1 to satisfy equation (26). More importantly, equation ( 26) quantitatively presents the tuning law for n 1 and K 1 .…”

Observer based sliding mode control of PMSM speed regulation system with a novel reaching law

“…Although widely used in the speed control of PMSM for its simplicity, it is harder and harder for the traditional proportional-integral-derivative (PID) control to fulfil the increasing high control performance demands of modern industrials [3,4]. In the last few decades, several nonlinear control methods have been developed for the speed control of PMSM, such as adaptive control [5], predictive control [6], back-stepping-based control [7], intelligent control [8,9], and sliding mode control (SMC) [1,3,10].…”

“…Among these nonlinear control methods, SMC is widely used in practical applications for its simplicity, fast response and robustness [4,10,11]. However, the chattering phenomenon that caused by the parasitic dynamics and high-frequency switching is not desired in practical applications, since it can increase the mechanical wear or even excite the unmoulded high-frequency dynamics [10,12]. Therefore, chattering attenuation is one of the key issues in the application of SMC.…”

A new continuous integral sliding mode control algorithm for inverted pendulum and 2-DOF helicopter nonlinear systems: Theory and experiment

“…The various types of disturbance observers introduced in Li et al 30 dispense an efficacious approach for evaluation of disturbance in a large number of systems. Lately, the various robust control approaches using DO for chain driving system, 31 for high-speed and precision motion, 32 for Industrial Emulator and 2-DOF Helicopter, 33 for proportional solenoid valve, 34 for nonlinearly parameterized systems, 35 for a class of MIMO mechanical systems, 36 for ships under thruster saturation, 37 for underactuated vessels 38 have been presented.…”