The research of adaptive sliding mode controller for motor servo system using fuzzy upper bound on disturbances
- 314 Downloads
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.
KeywordsAdaptive control chattering suppression fuzzy control servo motor sliding mode control
Unable to display preview. Download preview PDF.
- G. M. Li and K. M. Tsang, “Concurrent relay-PID control for motor position servo systems,” International Journal of Control, Automation, and Systems, vol. 5, no. 3, pp. 234–242, June 2007.Google Scholar
- Q. W. Jia, “Disturbance rejection through disturbance observer with adaptive frequency estimation,” IEEE Trans. on Magnetics, vol. 45, no. 6, pp. 114–119, June 2009.Google Scholar
- S. E. Ghazi, “Analysis of VSC system designed via the reaching law approach,” Proc. of Southeastcon. Bringing Together Education, Science and Technology, pp. 170–174, 1996.Google Scholar
- J. C. Hung, “Chattering handling for variable structure control systems,” Proc. of the 19th Conf. Industrial Electronics, Control, and Instrumentation, pp. 114–119, 1993.Google Scholar
- Z. H. Man, X. H. Yu, K. Eshraghian, K. Eshraghian, and M. Palaniswami, “A robust adaptive sliding mode tracking control using an RBF neural network for robotic manipulators,” Proc. of Conf. Neural Networks, pp. 2403–2408, 1995.Google Scholar
- V. Panwar, “Asymptotic trajectory tracking for a robot manipulator using RBF neural network and adaptive bound on disturbances,” Proc. of the 2nd Conf. Mechanical and Electrical Technology, pp. 156–160, 2010.Google Scholar
- R. J. Wai, “Fuzzy sliding-mode control using adaptive tuning technique,” IEEE Trans. on Industrial Electronics, vol. 54, no. 1, pp. 1234–1245, February 2007.Google Scholar
- H. F. Ho and K. W. E. Cheng, “Position control of induction motor using indirect adaptive fuzzy sliding mode control,” Proc. of the 3rd Conf. Power Electronics Systems and Applications, pp. 1–5, 2009.Google Scholar
- X. Y. Wang, S. Yau, and J. Huang, “A study of tracking-differentiator,” Proc. of the 39th Conf. Decision and Control, pp. 4783–4784, 2000.Google Scholar