2026 Vol.9 Aug.N04

• Title: Adaptive Tracking Control of Electrical Servo System of Industrial Manipulator Based on Sliding Mode Observer
• Name: Yufan Fang
• Company: Chuzhou Polytechnic,Chuzhou ，239000,China
• Abstract:

  The tracking control method of the electric servo system of industrial manipulator mostly adopts sliding mode control with fixed parameters. Because it is impossible to dynamically compensate the uncertain interference during the unfolding and closing of the manipulator, the control accuracy is not good. In this paper, adaptive tracking control of industrial manipulator electric servo system based on sliding mode observer is proposed. On-line estimation of lumped disturbance caused by internal friction, joint coupling and external load of servo loop, and real-time estimation of system uncertainty. The disturbance estimator output by the observer is introduced into the control law, and an adaptive gain that can be adjusted independently with the trajectory deviation is designed, and the control output intensity is dynamically adjusted according to the tracking error, so as to realize the synergistic effect of disturbance feedforward compensation and error feedback adjustment. Based on the decision criterion, the stability of the closed-loop system is analyzed, and the key parameters such as observer coefficient and adaptive learning coefficient are jointly optimized to ensure the stable convergence of the whole servo loop. In the experiment, the control accuracy of the proposed method is tested. Through the test and comparison results, it is clear that the average chi-square distance of trajectory distribution is 0.076 when the proposed method is used for adaptive tracking control, which has ideal control effect.

  
  

• Keyword: industrial manipulator; Electrical servo system; Sliding mode observer; Adaptive sliding mode control: Trajectory tracking;
• DOI: 10.12250/jpciams2026090809
• Citation form: Yufan Fang.Adaptive Tracking Control of Electrical Servo System of Industrial Manipulator Based on Sliding Mode Observer[J]. Computer Informatization and Mechanical System,2026,Vol.9,pp.

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