Abstract
An adaptive sliding-mode controller based on real-time genetic algorithms (GAs) is developed for an induction motor (IM) servo drive. First, an adaptive sliding-mode controller with an integral-operation switching surface is investigated, in which a simple adaptive algorithm is utilised to estimate the bound of uncertainties. Since the adaptation parameters for the above adaptive algorithm are constants, favorable response usually cannot be obtained due to the existence of uncertainties. Therefore, a real-time GA is developed to search the optimal adaptation parameters on-line. The position control for an IM servo drive using the proposed control strategy is illustrated. Simulated and experimental results show that the proposed controller provides high-performance dynamic characteristics and is robust with regard to plant parameter variations and external load disturbance.
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