Optimal adaptive parameter estimation-based tracking control of motor turntable servo system

In this paper, an optimal adaptive parameter estimation (OAPE) method is proposed to estimate the disturbance and the unknown parameters of the motor turntable servo system. Different from the conventional adaptive parameter estimation (APE), the estimation error of OAPE is driven by the adaptive law with the time-varying gain which is developed by utilizing the filtering technique and minimizing the cost function. By implying OAPE, the exponential convergence of estimation errors is guaranteed. The nonsingular time-varying terminal sliding mode (NTVTSM) controller is designed, which achieves the position tracking of the system with small tracking errors. Simulation are conducted to validate the effectiveness of the proposed algorithm.