Regenerative chatter is an annoying dynamic phenomenon in machining processes. In this paper, an adaptive sliding mode controller (SMC) is developed for turning chatter mitigation in the presence of control input constraint, parameter uncertainties, and external disturbances. Adaptive laws are employed to estimate parameter uncertainties and disturbances, while a SMC, fulfilling the control input constraint, is designed to mitigate chatter. One unique feature of the developed adaptive approach is that it guarantees chatter suppression even in the presence of control input constraint. Theoretical analyses and experimental investigations are performed, and results demonstrate that the developed SMC with chosen controller parameters guarantees chatter mitigation in the tested examples.

再生颤动是加工过程中令人讨厌的动态现象。在本文中，开发了一种自适应滑模控制器（SMC），用于在存在控制输入约束，参数不确定性和外部干扰的情况下减轻抖振。自适应法则用于估计参数不确定性和干扰，而满足控制输入约束的SMC旨在减轻抖动。所开发的自适应方法的一个独特功能是，即使在存在控制输入约束的情况下，它也可以保证颤动抑制。进行了理论分析和实验研究，结果表明，所开发的具有选定控制器参数的SMC可以保证测试示例中的抖动减少。