The research of adaptive sliding mode controller for motor servo system using fuzzy upper bound on disturbances

  • Xiaodong LiuEmail author
  • Yunjie Wu
  • Baiting Liu


Considering sliding mode control (SMC) method using the estimation of upper bound on disturbances in motor servo system, if the upper bound is underestimated, the position tracking precision is poor. Contrarily, the control input is overlarge and even chatters violently. To solve the above problems, an adaptive sliding mode controller (ASMC) is proposed. It utilizes a fuzzy decision maker (FDM), which exports the estimation of upper bound on disturbances according to the information of position tracking error and control input. The computer simulations on a dc motor present that the proposed method guarantees satisfactory position tracking accuracy and the chattering at control input is evidently suppressed. Moreover, the output of FDM is sensitive to the changes of disturbances realtimely and precisely. Subsequently, the proposed scheme possesses strong robust performance against disturbances in motor servo system.


Adaptive control chattering suppression fuzzy control servo motor sliding mode control 


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Copyright information

© Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  1. 1.School of Automation Science and Electrical EngineeringBeihang UniversityBeijingChina

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