Sliding Mode Control of Servo Feed System Based on Fuzzy Reaching Law

Abstract

An adaptive sliding mode control method based on the fuzzy exponential convergence law is proposed to solve the jitter problem caused by the sliding mode control of the servo-feed system and to improve the tracking performance of the system. The design of fuzzy rules for adaptive adjustment of convergence law parameters in sliding mode control improves the convergence speed of the sliding mode function, eliminates unknown disturbances in the system, and weakens the chattering of the system. The proposed method is simulated and experimentally verified by a parallel mobile platform. The results show that the sliding mode control method based on the fuzzy convergence law has strong disturbance suppression capability, high position tracking accuracy, and effective chattering suppression, and the maximum tracking error is reduced by 43.1% and 31.5%, respectively, compared with PID control and exponential sliding mode control.