Robust integral sliding mode control for rail transit servo systems: Design of an adaptive generalized super-twisting algorithm

Surface-mounted permanent magnet synchronous motors are critical in rail transit servo systems but suffer from parameter variations and load disturbances. Although sliding mode control offers robustness, chattering degrades precision. This paper proposes robust integral sliding mode control based on the adaptive generalized super-twisting algorithm (AGSTA), featuring a smooth nonlinear saturation function to construct a robust integral sliding surface (eliminating windup) and an AGSTA with real-time gain adaptation. Simulations confirm its superiority in dynamic response, sudden load disturbance rejection, and steady-state accuracy, showing potential for enhancing servo performance and ride comfort in rail transit vehicles.