The Research of Integral Sliding Mode Adaptive Control in Electric Servo Loading System

In this paper, an integral sliding mode adaptive control scheme is presented for a class electric servo loading system with uncertain parameters and external disturbance. Integral control is introduced to avoid the assumption that the derivative of desired signal must be known in conventional sliding mode variable structure control, and the adaptive algorithm based on Lyapunov method is used to make the system insensitive to parameters uncertainties. The performance of electric servo loading system is illustrated by simulation, and the simulation results show that the proposed integral sliding mode adaptive control scheme improves the tracking precision of the electric servo loading system considerably and is fairly robust to plant parameters variations and external disturbances.