Design of single neuron super-twisting sliding mode controller for permanent magnet synchronous servo motor

Abstract

Aiming at the control system of permanent magnet synchronous servo motor which is easily affected by external disturbance and parameter uncertainty, a single neuron sliding mode combining single neuron adaptive algorithm and super-twisting sliding mode (STSM) control is proposed. The STSM control is used to overcome the chattering problem in the traditional sliding mode control, and the proportional control and the STSM control are combined to enhance the robustness of the control system. In order to improve the dynamic performance of the system and enhance the anti-disturbance ability of the system, the single neuron adaptive control adopted can adjust the relevant parameters of the designed sliding mode controller online. The simulation and experimental results show that the designed improved sliding mode controller can effectively suppress the chattering of the control system, realize the fast following and no overshoot of the control system, and enhance the robustness of the system.

Trajectory Tracking Control of Autonomous Vehicles Based on an Improved Sliding Mode Control Scheme

“…Simultaneously, the sliding mode controller possesses benefits, including rapid response, high precision, and robustness. However, traditional sliding mode controllers (SMC) exhibit a chattering phenomenon after the system state reaches the sliding surface [18], which affects control accuracy and system stability. To address this issue, researchers have proposed various methods, among which terminal sliding mode control (TSM) [19] is a commonly used approach.…”