An Aaptive Sliding Mode Control Based on an Improved Reduced-Order Proportional-Integral Observer with an Improved Super-Twisting Oserver

This paper describes an adaptive sliding mode control method, which constructs an improved over-twisted observer based on the improved reduced-order proportional integral observer (IROPIO) and Super-Twisting linear term over-twisting algorithm (STLT). Among them, the system introduces a first-order linear term, which accelerates the convergence rate of velocity estimation and greatly reduces the estimation error. At the same time, this method effectively reduces the fluctuation of the control signal and shortens the time required for the system trajectory to reach the slip mode surface. IROPIO can accurately predict unknown disturbances when the system is running, and provide feedforward compensation for adaptive sliding mode control (ASMC), effectively solving the overshoot condition of the speed response that may occur due to disturbance estimation errors during the speed jump process. Robustness and dynamic performance are thus improved. Experimental results show that this method can significantly optimize control performance in practical applications, providing an efficient and reliable solution to the control problems of high-speed and high-precision systems.