Abstract
An adaptive sliding mode controller (ASMC) based on characteristic model is designed to overcome the detri- mental effect of large inertia ratio and large-range varying inertia in high accuracy servo systems. The servo system dis- crete characteristic model is established and adopted for the controller designed instead of using the traditional mechanism model. The recursive least square (RLS) algorithm is used to identify time-varying parameters in characteristic model. The position controller is constituted by an adaptive equivalent controller based on identification parameters and an im- proved sliding mode controller, and the stability of the closed-loop system is analyzed. The experimental results show that the proposed controller can adapt to large-range varying inertia, and improve the dynamic performance and steady-state precision of servo systems.
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