Adaptive Sliding Mode Control for Precision Motion of Industrial Feed Drive Systems with Uncertainty Dynamics

摘要

This study proposes an approach for high speed and precision motion control for industrial feed drive systems. Although sliding mode control is among the well-known approaches, ignoring plant uncertainties in controller design could hinder the control performance. Therefore, in this study, a nonlinear sliding mode control is designed with an additional controller to compensate for plant uncertainties. The control stability is proven by the Lyapunov stability theory, and the convergence of the motion trajectory to the sliding surface is guaranteed. To verify the performance, an adaptive sliding mode controller with a nonlinear sliding surface has been considered for comparison. Simulation results show that the proposed controller can significantly enhance the performance of feed drive systems. The proposed method has shown that the maximum tracking error can be reduced by 50.5 % with little increase of energy consumption.