Finite-Time Control of a Linear Motor Positioner Using Adaptive Recursive Terminal Sliding Mode

Payload variations, friction, and external disturbances deteriorate the control performance of linear motor (LM) positioners. To provide high-speed and high-precision performance for the LM, an adaptive recursive terminal sliding-mode (ARTSM) controller is proposed in this article. For the controlle...

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Bibliographic Details
Published in:IEEE transactions on industrial electronics (1982) 2020-08, Vol.67 (8), p.6659-6668
Main Authors: Shao, Ke, Zheng, Jinchuan, Huang, Kang, Wang, Hai, Man, Zhihong, Fu, Minyue
Format: Article
Language:English
Subjects:
Adaptive control
Adaptive recursive terminal sliding mode (ARTSM)
Australia
Control design
Controllers
Convergence
Electric motors
Feedback control
finite-time control
Friction
Integrals
linear motor (LM)
Recursive functions
robust control
Sliding mode control
Stability analysis
Tracking errors
Uncertainty
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Summary:Payload variations, friction, and external disturbances deteriorate the control performance of linear motor (LM) positioners. To provide high-speed and high-precision performance for the LM, an adaptive recursive terminal sliding-mode (ARTSM) controller is proposed in this article. For the controller, a fast nonsingular terminal sliding function and a recursive integral terminal sliding function are developed in a recursive structure such that the sliding surfaces are arrived successively and ultimately the tracking error can converge to zero in a finite time. Furthermore, by setting an appropriate initial value for the integral element of the ARTSM controller, the control system is enforced to start on the sliding surface at the initial time such that the reaching time is reduced. Stability analysis is presented to prove the finite-time convergence and zero tracking error of the closed-loop system under the proposed ARTSM controller. Experimental results also demonstrate the effectiveness of the controller in terms of significantly reduced tracking errors and faster disturbance rejection in comparison with a recently reported fast nonsingular terminal sliding-mode (FNTSM) controller for the LM positioner.
ISSN:0278-0046
1557-9948
DOI:10.1109/TIE.2019.2937062