Abstract
Inertia variations in servo systems greatly affect the control performance. This paper presents an adaptive terminal sliding-mode controller to deal with the problem. Instead of using traditional mathematics model, a characteristic model, which has more advantages in describing time-varying dynamics, is adopted to describe the servo system with inertia variations. The parameters of characteristic model are identified by the recursive least squares algorithm. Then, an adaptive terminal sliding-mode controller is designed based on the characteristic model. Theoretical analysis proves that the quasi-sliding mode is reached in finite steps. Simulation results demonstrate the improvement of tracking performance of the proposed controller.
Highlights
Servo systems have been widely applied to various modern industries, including machine tools, robots, satellite antennas, radars and manipulators
The characteristic model reduces the complexity of traditional mathematics model and is good at describing time-varying dynamics
C) In dynamic process, under the same input, selecting a suitable sampling time can guarantee that the error between characteristic model output and practical plant output is maintained within a permitted small range
Summary
Servo systems have been widely applied to various modern industries, including machine tools, robots, satellite antennas, radars and manipulators. A model reference adaptive method was adopted in [1] for inertia identification and the feedforward compensation gain was tuned . The work in [2] combined the extended state observer with the inertia identification method and proposed an adaptive controller for speed regulation servo systems. The studies mentioned above have their own advantages Most of these control schemes are complicated and unsuitable to practical application due to the high-order and nonlinearity of the traditional mathematics model. The characteristic model of the servo system is established to adapt to inertia variations. The terminal sliding-mode strategy is chosen to combine with the characteristic modeling method. The characteristic model is mainly used to describe parametric variations and the terminal slidingmode control is used to restrain disturbances.
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