Composite nonlinear feedback–based adaptive integral sliding mode control for a servo position control system subject to external disturbance

Abstract

This paper presents a composite nonlinear feedback–based adaptive integral sliding mode controller with a reaching law (CNF-AISMRL) for fast and accurate control of a servo position control system subject to external disturbance. The proposed controller exploits the advantages of composite nonlinear feedback (CNF) and sliding mode control (SMC) schemes to improve the transient performance and increase the robustness of the closed-loop system. An integral sliding mode combined with a quick reaching law is designed to eliminate the effect of disturbances, which mitigates chattering and achieves finite-time convergence of the sliding mode. An adaptation tuning approach is utilized to deal with unknown but bounded system uncertainties and disturbances. When considering the model uncertainties and disturbances, the stability of the closed-loop system is verified based on the Lyapunov theorem. Numerical simulations are investigated to the effectiveness of the proposed scheme. The transient performance of load disk position to step signal with disturbances using CNF, composite nonlinear feedback based integral sliding mode control (CNF-ISM), and the proposed CNF-AISMRL schemes is given. The simulation results indicate that, without acquiring the knowledge of bounds on system disturbances, the proposed control scheme has superior performance in the presence of time-varying disturbances.

Addressing asymmetric saturation in chaotic Chua's circuit switched system: A combined adaptive sliding mode strategy

“…On the other hand, the ISM control technique is specifically designed to ensure high performance and robustness throughout the trajectory of the closed‐loop system, while also expediting the reaching phase. Previous studies 17,18 have extensively explored the development and application of ISM control in accomplishing these objectives. Moreover, in Reference 19, a continuous CNF‐ISM control scheme was implemented to optimize the operation of an offshore container crane, particularly in scenarios involving uncertainties and input nonlinearity.…”

Observer-based integral controller using composite nonlinear feedback for saturated control systems

“…Based on the integral SMC, a robust CNF controller is suggested to uncertain systems with input saturation (Hu et al, 2022). In the presence of disturbance, based on CNF, an adaptive integral SMC is designed for controlling the position (Chen et al, 2022). Using CNF-based SMC, the uncertain systems with chaotic behavior are synchronized (Mobayen, 2018).…”

Sliding Mode Control of Servo Feed System Based on Fuzzy Reaching Law

“…For the high-precision position control of electro-hydraulic servo pump control system, Song et al [11] proposed a compensation control algorithm based on fuzzy control theory on the basis of classical PID control algorithm for reducing the influence of system by load disturbance and enhancing the anti-interference capability of the system. Chen et al [12] proposed a composite nonlinear feedback adaptive integral sliding mode controller with convergence law (CNF-AISMRL) for fast and accurate control of a servo position control system subject to external disturbances. Zhang et al [13] applied an autoturbation controller (ADRC) to motor position control of a servo-driven feed system to suppress vibration and disturbances, and used a simple PI controller to achieve accurate position control of the motion table.…”