Abstract
In this paper, a novel adaptive nonsingular terminal sliding mode control (ANTSMC) based parameter estimation is developed for servo system with unknown system parameters. An auxiliary filter variable is employed to derive parameter estimation error information without measuring the acceleration. The estimation error is used as new leakage term in parameter update law. The key idea of the proposed parameter estimation scheme is that a sliding mode technique is introduced to ensure the finite time convergence of the estimation error in the presence of persistent excitation (PE). Moreover, an adaptive observer is designed to estimate the unmeasured state variables. Then, an adaptive nonsingular terminal sliding mode controller is designed for the servo system to achieve high performance tracking control. Finally, simulation results are used to illustrate the effectiveness of the proposed control method.
Published Version
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