Adaptive Sliding Mode Controller for Servo Actuator System with Friction

  • Shibly Ahmed Al-Samarraie, Ass. Prof. Dr. Control & Systems Eng. Dept. University of Technology
  • Muntadher Mohammed Salih, MSc student Control & Systems Eng. Dept. University of Technology
Keywords: sliding mode control, adaptive sliding mode control, low pass filter, servo actuator system.

Abstract

This paper addresses the use of adaptive sliding mode control for the servo actuator system with friction. The adaptive sliding mode control has several advantages over traditional sliding mode control method. Firstly, the magnitude of control effort is reduced to the minimal admissible level defined by the conditions for the sliding mode to exist. Secondly, the upper bounds of uncertainties are not required to be known in advance. Therefore, adaptive sliding mode control method can be effectively implemented. The numerical simulation via MATLAB 2014a for servo actuator system with friction is investigated to confirm the effectiveness of the proposed robust adaptive sliding mode control scheme. The results clarify, after comparing it with the results obtained by using classical sliding mode control, that the control efforts are reduced and the chattering amplitude is attenuated with preserving main features of the classical sliding mode control.

 

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Published
2017-01-01
How to Cite
Al-Samarraie, S. and Salih, M. (2017) “Adaptive Sliding Mode Controller for Servo Actuator System with Friction”, Journal of Engineering, 23(1), pp. 78-95. Available at: http://joe.uobaghdad.edu.iq/index.php/main/article/view/99 (Accessed: 19September2020).