ESO-Based Adaptive Sliding Control for Nonlinear Servo System with Unknown Disturbance and Uncertainties

Abstract

This paper proposed adaptive sliding mode controller for servo systems with unknown disturbance and uncertainties. An extended state observer (ESO), which has only one parameter (system bandwidth $\omega_{0}$) to be tuned, is employed to estimate the unknown disturbance and unmeasured system states. Then, an adaptive sliding mode controller based on disturbance estimation value is devised for servo mechanism to achieve position tracking. Comparative simulations on a turntable servo mechanism confirm the effectiveness of the devised control method.