Discrete Second-Order Sliding Mode Adaptive Controller Based on Characteristic Model for Servo Systems
Considering the varying inertia and load torque in high speed and high accuracy servo systems, a novel discrete second-order sliding mode adaptive controller (DSSMAC) based on characteristic model is proposed, and a command observer is also designed. Firstly, the discrete characteristic model of ser...
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| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2015-01-01
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| Series: | Journal of Control Science and Engineering |
| Online Access: | http://dx.doi.org/10.1155/2015/405376 |
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| _version_ | 1832545692681240576 |
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| author | Zhihong Wang Yifei Wu Wei Chen Xiang Wang Jian Guo Qingwei Chen |
| author_facet | Zhihong Wang Yifei Wu Wei Chen Xiang Wang Jian Guo Qingwei Chen |
| author_sort | Zhihong Wang |
| collection | DOAJ |
| description | Considering the varying inertia and load torque in high speed and high accuracy servo systems, a novel discrete second-order sliding mode adaptive controller (DSSMAC) based on characteristic model is proposed, and a command observer is also designed. Firstly, the discrete characteristic model of servo systems is established. Secondly, the recursive least square algorithm is adopted to identify time-varying parameters in characteristic model, and the observer is applied to predict the command value of next sample time. Furthermore, the stability of the closed-loop system and the convergence of the observer are analyzed. The experimental results show that the proposed method not only can adapt to varying inertia and load torque, but also has good disturbance rejection ability and robustness to uncertainties. |
| format | Article |
| id | doaj-art-11d6bf3da44d4516b3e210a63bda09e0 |
| institution | Kabale University |
| issn | 1687-5249 1687-5257 |
| language | English |
| publishDate | 2015-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Control Science and Engineering |
| spelling | doaj-art-11d6bf3da44d4516b3e210a63bda09e02025-02-03T07:24:56ZengWileyJournal of Control Science and Engineering1687-52491687-52572015-01-01201510.1155/2015/405376405376Discrete Second-Order Sliding Mode Adaptive Controller Based on Characteristic Model for Servo SystemsZhihong Wang0Yifei Wu1Wei Chen2Xiang Wang3Jian Guo4Qingwei Chen5School of Automation, NUST, Nanjing 210094, ChinaSchool of Automation, NUST, Nanjing 210094, ChinaElectronic and Mechanical Technology Department, Nanjing Marine Radar Institute, Nanjing 210003, ChinaSchool of Automation, NUST, Nanjing 210094, ChinaSchool of Automation, NUST, Nanjing 210094, ChinaSchool of Automation, NUST, Nanjing 210094, ChinaConsidering the varying inertia and load torque in high speed and high accuracy servo systems, a novel discrete second-order sliding mode adaptive controller (DSSMAC) based on characteristic model is proposed, and a command observer is also designed. Firstly, the discrete characteristic model of servo systems is established. Secondly, the recursive least square algorithm is adopted to identify time-varying parameters in characteristic model, and the observer is applied to predict the command value of next sample time. Furthermore, the stability of the closed-loop system and the convergence of the observer are analyzed. The experimental results show that the proposed method not only can adapt to varying inertia and load torque, but also has good disturbance rejection ability and robustness to uncertainties.http://dx.doi.org/10.1155/2015/405376 |
| spellingShingle | Zhihong Wang Yifei Wu Wei Chen Xiang Wang Jian Guo Qingwei Chen Discrete Second-Order Sliding Mode Adaptive Controller Based on Characteristic Model for Servo Systems Journal of Control Science and Engineering |
| title | Discrete Second-Order Sliding Mode Adaptive Controller Based on Characteristic Model for Servo Systems |
| title_full | Discrete Second-Order Sliding Mode Adaptive Controller Based on Characteristic Model for Servo Systems |
| title_fullStr | Discrete Second-Order Sliding Mode Adaptive Controller Based on Characteristic Model for Servo Systems |
| title_full_unstemmed | Discrete Second-Order Sliding Mode Adaptive Controller Based on Characteristic Model for Servo Systems |
| title_short | Discrete Second-Order Sliding Mode Adaptive Controller Based on Characteristic Model for Servo Systems |
| title_sort | discrete second order sliding mode adaptive controller based on characteristic model for servo systems |
| url | http://dx.doi.org/10.1155/2015/405376 |
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