Design of an adaptive combinatorial sliding mode controller for micromanipulators

Abstract The most critical concerns for micromanipulator systems driven by piezoelectric ceramics are stability and precision. A sliding mode controller based on the adaptive combinatorial convergence law is created using the conventional exponential convergence law and the variable speed convergence law. The controller makes the parameters adaptable in the conventional convergence law. Additionally, the system motion is split into two phases by parameter selection, combining the adaptive exponential convergence law with the adaptive variable speed convergence law. The results of experiments demonstrate that the newly proposed controller suppresses the jitter phenomenon of the system and has a shorter response time. This will increase the dependability of the micromanipulator systems, which is practically significant.