Adaptive parameter identification and control for servo system with input saturation

In this paper, an adaptive on-line parameter identification law is investigated by the extracted parameter error information for the position servo system, and the improved exponential reaching law is employed to design the controller to enhance the tracking performance. The chattering problem is weakened by using the proposed method. Moreover, several adaptive parameters are adopted to suppress the effect of saturation when the limited input affects the system tracking performance. Finally, simulations are conducted to verify the effectiveness of the proposed method.