Adaptive fuzzy sliding mode control for chain driving mechanical servo system

作者：Zou Quan; Qian Lin Fang^*; Xu Ya Dong

来源：Transactions of Beijing Institute of Technology, 2014, 34(12): 1246-1250 and 1288.

• Adaptive Control
• Adaptive fuzzy sliding mode controls (AFSMC)
• Adaptive sliding mode control
• Chattering
• Mechanical servo systems
• Nonlinear friction compensation
• Parameter perturbation
• Position tracking control

An adaptive fuzzy sliding mode control scheme was proposed for the position tracking control of chain driving mechanical servo system in presence with meshing impact, parameter perturbations and nonlinear friction. Comparing with traditional adaptive sliding mode control, the adaptive scheme was adopted in this paper to estimate the time-varying system parameters instead estimating the upper bound of the model uncertainty, and the influence of model uncertainty was effectively reduced. And then a fuzzy logic system was designed to remove the discontinuous control term in the traditional sliding mode control, and the chattering in the control effort was reduced. Actual velocity was replaced by desired velocity in the nonlinear friction compensation, thus the influence of measurement noise was reduced, and the control performance was improved. Experimental results show that the proposed scheme is insensitive to parameter variations and external disturbance, and the control precision is high.

• 出版日期2014
• 单位南京理工大学