Arbitrary iterative initial value suppression control based on time-varying terminal sliding mode

被引：1

作者：

Yin C.-W. ^{[1
]}

Gan T. ^{[1
]}

Chu T.-L. ^{[1
]}

Chen J.-Y. ^{[1
]}

机构：

[1] School of Information and Control Engineering, Xi’an University of Architecture and Technology, Shaanxi, Xi’an

来源：

Kongzhi Lilun Yu Yingyong/Control Theory and Applications | 2023年 / 40卷 / 06期

基金：

中国国家自然科学基金;

关键词：

finite time control; initial value problem; iterative learning control; robot; sliding model control;

D O I：

10.7641/CTA.2022.11246

中图分类号：

学科分类号：

摘要：

To solve the problem of the theoretical proof of iterative convergence and the arbitrary initial value in the iterative learning process, a time-varying terminal sliding-mode surface with the initial value of trajectory tracking error always located in the sliding-mode surface is constructed. The trajectory tracking control problem with non-zero initial value of trajectory tracking error is transformed into the sliding-mode surface tracking control problem with constant initial value of sliding-mode surface. The bridge between iterative learning control theory with arbitrary iterative initial value and the same iterative initial value is established. A proportional-integral-derivative (PID) closed-loop iterative learning control strategy based on time-varying sliding-mode surface is proposed. The convergence of iterative learning is proved based on the principle of compression mapping, and the iterative convergence conditions are given. The time-varying terminal sliding-mode surface converges to zero after finite iterative learning, and the trajectory tracking error is finally stabilized in the time-varying sliding-mode surface. Based on the Lyapunov stability theory, it is proved that the trajectory tracking error in the sliding-mode surface converges to the origin in finite time to track local trajectory accurately. The numerical simulation of industrial robot trajectory tracking control under random initial state verifies the effectiveness of the proposed method and the robustness of the system to external strong disturbances. © 2023 South China University of Technology. All rights reserved.

引用

页码：1105 / 1112

页数：7

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