Adaptive sliding-mode control for motor-toggle servomechanism

Rong Jong Wai, Chih Hong Lin, F. J. Lin

Research output: Contribution to journalArticlepeer-review

2 Scopus citations


In this study, the dynamic responses of an adaptive sliding-mode controlled motor-toggle servo mechanism is described. The servomechanism is a toggle mechanism actuated by a permanent magnet (PM) synchronous servo motor. First, a newly-designed sliding-mode controller, which is insensitive to uncertainties including parameter variations and external disturbance, is introduced. Then, to overcome the two main problems with sliding-mode control, i.e., the assumption of known uncertainty bounds and the chattering phenomenon in the control effort, an adaptive sliding-mode controller is investigated to control the motor-toggle servomechanism. In the adaptive sliding-mode controller a simple adaptive algorithm is utilized to adjust the uncertainty bounds real-time. Simulated and experimental results due to periodic step and sinusoidal commands show that the dynamic behaviors of the proposed controllers are robust with regard to uncertainties.

Original languageEnglish
Pages (from-to)1093-1099
Number of pages7
JournalPESC Record - IEEE Annual Power Electronics Specialists Conference
StatePublished - 2000


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