Journal of Electrical Engineering & Technology

, Volume 14, Issue 6, pp 2341–2353 | Cite as

Robust Adaptive Sliding-Mode Control for Permanent Magnet Spherical Actuator with Uncertainty Using Dynamic Surface Approach

  • Yan Wen
  • Guoli Li
  • Qunjing Wang
  • Xiwen GuoEmail author
Original Article


This paper presents a position tracking control method for a three degree-of-freedom permanent magnet spherical actuator (PMSA). The control method is designed based on a dynamic model of the PMSA with uncertainties including modelling errors and external disturbance. Sliding-mode surface are adopted to restrain and eliminate the effect of external disturbances. To compensate modelling errors, an adaptive law is employed to estimate unknown model parameters so that model information can be updated in real time. By the use of dynamic surface approach, three first-order filters are introduced to avoid the explosion of derivative terms caused by traditional adaptive backstepping approach. The stability of the closed-loop system using the proposed controller is confirmed through Lyapunov theorem. The test bench consisted of the prototype of PMSA, the host computer, the current controller and the orientation detection device is established for experiments. Simulation and experimental results are provided to validate effectiveness of the proposed method.


Spherical actuator Position tracking Dynamic surface approach Adaptive control Sliding-mode control 



This work was funded by National Natural Science Foundation of China (Grant numbers 51637001, 51307001), Natural Science Research Key Program of Anhui University (Grant Number KJ2017A001), and Young Core Teacher Program of Anhui University (Grant Number J01005126).


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Copyright information

© The Korean Institute of Electrical Engineers 2019

Authors and Affiliations

  1. 1.School of Computer Science and TechnologyAnhui UniversityHefeiChina
  2. 2.School of Electrical Engineering and AutomationAnhui UniversityHefeiChina
  3. 3.National Engineering Laboratory of Energy-Saving Motor and Control TechnologyAnhui UniversityHefeiChina
  4. 4.Collaborative Innovation Centre of Industrial Energy-Saving and Power Quality ControlAnhui UniversityHefeiChina

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