An induction motor servo drive using sliding-mode controller with genetic algorithm

An adaptive sliding-mode controller based on real-time genetic algorithms (GAs) is developed for an induction motor (IM) servo drive in this paper. First, an adaptive sliding-mode controller with an integral-operation switching surface is investigated, in which a simple adaptive algorithm is utilized to estimate the bound of uncertainties. Since the adaptation gain in the adaptive algorithm is fixed, if the gain is not properly chosen sluggish or chattering responses are resulted due to large external load disturbance. Therefore, a real-time GA is developed to tune the adaptation gain on-line. The position control for an IM servo drive using the proposed control strategies is illustrated. The theoretical analyses for the proposed GA based adaptive sliding-mode controller are described in detail. Simulated and experimental results show that the proposed controller provides high-performance dynamic characteristics and is robust with regard to plant parameter variations and external load disturbance. (C) 2002 Elsevier Science B.V. All rights reserved.