Novel adaptive sliding mode control scheme of high precision mechanical servo system
高精度机械伺服系统的一种新型自适应滑模控制方法

This paper presents a novel high-performance adaptive sliding mode control scheme for high precision mechanical servo systems to asymptotically track a specified reference model. The proposed scheme has a strong robustness to the inertia change in a large range and to the external disturbance such as nonlinear friction. The key idea of the scheme is that the external disturbances are suppressed by using the sliding mode method and the change in the rotational inertia is compensated with the help of adaptive estimation for parameters. The global stability of the algorithm is proved by the Lyapunov' s direct method. Since the proposed algorithm is simple and does not need for any high order differential signal of the angular position, it is suitable for real-time control. The method is applied to a high precision flight motion simulator, and the experimental result shows that the proposed approach has the good tracking performance, transient response, and robustness.