Sliding mode adaptive control for DC motors using function approximation form

In this paper, a novel sliding mode adaptive controller with function approximation form is proposed for the DC motor control system. For the position tracking in DC motor with unknown bounded time-varying dead zone uncertainties, the proposed controller combines sliding mode control and function approximation techniques for adaptively estimating the unknown bounded uncertainty. Specifically, control law is designed using sliding mode technique, and the function approximation technique is employed to transform the uncertain term into finite combinations of orthogonal basis function. Using the proposed control scheme, not only the superior speed tracking performance can be obtained, but also the time-varying uncertainty can be adaptively approximated online in the control design. Both the simulation and experiment results validate the excellent performance of the sliding mode adaptive controller with Laguerre basis function in terms of robustness, response speed, and anti-jamming