USDE-Based Sliding Mode Control for Servo Mechanisms With Unknown System Dynamics

Abstract

This article proposes an unknown system dynamics estimator (USDE) based sliding mode control for servo mechanisms with unknown dynamics and modeling uncertainties. An invariant manifold is first constructed by introducing an auxiliary variable based on a first-order low-pass filter. This is used to design a USDE with only one tuning parameter (i.e., time constant for the filter) and a simpler structure than other estimators. The USDE is used to compensate for the effect of the lumped unknown system dynamics since it can be easily incorporated into control synthesis. Moreover, to avoid the chattering phenomenon in the conventional sliding mode control methods, a novel reaching law is designed based on hyperbolic functions to guarantee that the sliding mode variable infinitely approaches to the equilibrium point instead of crossing it. Consequently, the fast convergence and chattering-free property can be achieved simultaneously. Simulations and experiments are provided to validate the effectiveness and superior performance of the proposed method.