Sliding Mode Control with Tracking Differentiator for Servo Systems

摘要

Sliding mode control with parameter adaptation and a tracking differentiator is proposed for servo systems with unknown disturbance. The parameter adaptation is introduced, both in order to enhance the disturbance rejection properties of the closed loop system and maintain the tracking performance in spite of plant parameter changes. And a tracking differentiator is integrated with the sliding mode controller to get noise free differential signals for further improving the performance of the system. The proposed controller has been implemented and tested with an industrial ink-jet plotter. Experimental results show that a minimum tracking error of ±0.03m/s is achieved and indicate that this controller is robust with the changing carriage mass.