Energy-saving simple adaptive recursive terminal sliding mode control for industrial feed drive systems

This paper proposes a simple adaptive recursive terminal sliding mode control approach for industrial feed drive systems. The design employs a recursive sliding mode structure that eliminates the reaching phase and ensures finite-time convergence of the tracking error. To mitigate chattering, a second-order nonsingular terminal sliding mode is used and the parameters to compensate for disturbances are obtain in terms of integral form and a proportional terminal term, which enhances disturbance rejection and further guarantees finite-time convergence. The proposed controller significantly reduces the tracking error and saves energy for the feed drive system. Numerical simulations on an industrial feed drive system confirm the controller’s superior performance in terms of fast convergence, contour error reduction, and lower energy usage, especially when compared to a configuration lacking the proportional terminal term. The impact of this work lies in providing a robust and energy-efficient control approach that enhances both precision and energy performance in modern industrial motion systems under disturbances.