Global robustness of sliding mode control for servo systems

摘要

In order to ensure the position loop of servo system static precision and dynamic tracking performance, this paper proposes a robust sliding mode controller to control strategy, eliminate the influence of reaching phase of sliding mode control on system performance. The adaptive algorithm is used to estimate the gain of the sliding mode switching term, so that the controller design does not need to predict the uncertainties in the system and the upper and lower bounds of the external disturbances. The adaptive variable structure control of the uncertain servo system is realized.