Adaptive sliding mode control of a three-mass elastic electromechanical system under parameter uncertainty and external disturbances

Abstract

This paper enhances the control quality of a three-mass elastic electromechanical system under parameter uncertainties and external disturbances. For the control system design, the paper considers the control object as a three-mass elastic electromechanical system with three interdependent control loops. A complete mathematical model of the object is then established. A robust adaptive sliding controller is proposed for the three-mass elastic system to counteract the influence of unknown external disturbances and model uncertainties caused by parameter uncertainty. The highlight of the adaptive sliding controller is its mechanism for adaptively adjusting the controller gain by estimating the upper bound of the combined external disturbances and system uncertainties. Thus, the controller ensures compensation for the influence of the above-mentioned negative factors. The stability of the proposed adaptive control system is investigated using Lyapunov stability theory. Simulation results on MATLAB/Simulink comparing the performance of the proposed adaptive sliding mode controller with the conventional PID controller demonstrate the effectiveness of the proposed approach.