Precise angle control of DC motor system based on variable structure control

Based on the background of charging for the high-altitude, long-endurance (HALE) unmanned aerial vehicle (UAV), a variable structure controller (VSC) is applied to the nonlinear direct current motor (DC motor) servo system to achieve the aim of high precise angle tracking. The DC motor model is established, and the Stribeck friction model is applied into the DC motor system. The simulation is implemented to confirm the performance of VSC controller. And the chattering phenomenon is discussed and eliminated.