Ring-pendulum Double-sided Polisher with Improved Super Twisting Sliding Mode Active Disturbance Rejection Control

To achieve fast, accurate, and stable rotation speed control for the ring-pendulum double-sided polisher (RDP), this paper proposes an improved super twisting sliding mode active disturbance rejection control (ISTSMADRC) method for RDP. This method increases the disturbance rejection ability of the system through the extended state observer of the ADRC. Meanwhile, the super twisting sliding mode (STSM) control is improved by the boundary layer method, and the ISTSM control law replaces the error feedback control law of the ADRC controller, then the response speed of system is enhanced. The performance of controller is analyzed by step response test, tracking performance test, and robustness test. The results show that the ISTSMADRC controller has fast response speed, high control accuracy, good tracking performance, and strong robustness.