Finite-time tracking control for motor servo systems with unknown dead-zones

被引:26
作者
Chen Qiang [1 ]
Yu Li [1 ]
Nan Yurong [1 ]
机构
[1] Zhejiang Univ Technol, Coll Informat Engn, Hangzhou 310023, Zhejiang, Peoples R China
基金
中国国家自然科学基金;
关键词
Dead zone; finite-time control; neural network; servo system; TERMINAL SLIDING-MODE; DYNAMIC SURFACE CONTROL; NONLINEAR-SYSTEMS; ROBOTIC MANIPULATORS; ADAPTIVE TRACKING; INPUT; DELAY; IDENTIFICATION;
D O I
10.1007/s11424-013-2153-y
中图分类号
O1 [数学];
学科分类号
0701 ; 070101 ;
摘要
A finite-time tracking control scheme is proposed in this paper based on the terminal sliding mode principle for motor servo systems with unknown nonlinear dead-zone inputs. By using the differential mean value theorem, the dead-zone is represented as a time-varying system and thus the inverse compensation approach is avoided. Then, an indirect terminal sliding mode control (ITSMC) is developed to guarantee the finite-time convergence of the tracking error and to overcome the singularity problem in the traditional terminal sliding mode control. In the proposed controller design, the unknown nonlinearity of the system is approximated by a simple sigmoid neural network, and the approximation error is diminished by employing a robust term. Comparative experiments on a turntable servo system are conducted to show the superior performance of the proposed method.
引用
收藏
页码:940 / 956
页数:17
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