Input/output data-based adaptive super-twisting sliding mode control for multi-motor servo systems
摘要
This paper studies the model reconstruction and high precision control problem of multi-actuator systems, which has a too complex traditional nonlinear dynamic model for controller design. An input/output data-based model is newly built as a substitute, and a discrete-time extended state observer is organically combined with an adaptive super-twisting sliding mode controller to achieve a high precision control. The whole system is controlled with only 5 parameters that need to be adjusted and the stability is proven. The simulation and experiment results indicate that the proposed control method could effectively realize simple and high-precision control.