Parameter adaption for proxy-based sliding mode control

Proxy-based sliding mode control (PSMC) is a control algorithm that combines traditional sliding mode control and PID control. It improves safety in rigid position control while ensuring good tracking performance. In order to meet the requirements of the control system, however, its control parameters are often adjusted empirically. This paper proposes a parameter adaptation method for PSMC. The method achieves online adjustment of control parameters by an improved back-propagation neural network. Numerical simulation results validate the effectiveness of the proposed method.