Fractional-order sliding mode position tracking control for servo system with disturbance

被引：23
|
作者：
Zhu, Peikun [1 ,2 ]
Chen, Yong [1 ,2 ]
Li, Meng [1 ,2 ]
Zhang, Peng [1 ,2 ]
Wan, Zhi [3 ]
机构：
[1] Univ Elect Sci & Technol China UESTC, Sch Automat Engn, Chengdu 611731, Peoples R China
[2] UESTC, Inst Elect Vehicles Driving Syst & Safety Technol, Chengdu 611731, Peoples R China
[3] Chongqing Chang Ind Grp Co Ltd, Chongqing 401120, Peoples R China
来源：
ISA TRANSACTIONS | 2020年 / 105卷
关键词：
Position tracking; Servo system; FOSMC; Fractional-order terminal sliding mode surfaces (FOTSMS); Nonlinear disturbance observer (NDO); SPEED CONTROL;
D O I：
10.1016/j.isatra.2020.05.032
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, the issue of position tracking control of servo system with external disturbance is studied. A novel fractional-order sliding mode control (FOSMC) strategy is proposed. To be specific, firstly, the motor parameter drift, additional unknown disturbance and the uncertainty of load torque are considered as lumped disturbance, and a nonlinear disturbance observer (NDO) is designed to estimate the disturbance. Secondly, fractional-order terminal sliding mode surfaces (FOTSMS) are designed for the current loop and the position-velocity loop, respectively, as well as the FOSMC is presented based on NDO, in which FOSMC of position-velocity loop introduces second-order super-twisting term to reduce the chattering of the system. Furthermore, the stability of the FOSMC is analyzed. Finally, the effectiveness of the proposed algorithm is verified by simulations and experiments. (C) 2020 ISA. Published by Elsevier Ltd. All rights reserved.
引用
收藏
页码：269 / 277
页数：9
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