Adaptive Non-Singular Terminal Sliding Mode Control Method for Electromagnetic Linear Actuator

被引:6
作者
Lu, Yingtao [1 ]
Lu, Jiayu [1 ]
Tan, Cao [1 ,2 ]
Tian, Maowen [2 ]
Dong, Guoming [2 ]
机构
[1] Shandong Univ Technol, Sch Transportat & Vehicle Engn, Zibo 255000, Peoples R China
[2] Shandong Zhongbaokang Med Implements Co Ltd, Zibo 255000, Peoples R China
基金
中国博士后科学基金; 中国国家自然科学基金;
关键词
electromagnetic linear actuator; non-singular terminal sliding mode control; exponential reaching law; friction model; disturbance observer; FRICTION COMPENSATION; IDENTIFICATION; MOTOR; SYSTEM;
D O I
10.3390/mi13081294
中图分类号
O65 [分析化学];
学科分类号
070302 ; 081704 ;
摘要
In this study, to further improve the dynamic performance and steady-state accuracy of the electromagnetic linear actuator (EMLA) for the direct-drive system, the adaptive non-singular terminal sliding mode controller (ANTSMC) based on an improved disturbance observer (IDOB) is proposed. Accurate modeling of the EMLA based on the LuGre friction model was obtained by identification. Aiming at the continuous disturbance of the system, a non-singular terminal sliding mode control based on improved exponential reaching law (IERL) is designed, which is combined with the advantages of fuzzy control. Adaptive adjustment of the IERL gain is achieved to ensure finite time convergence of the tracking error while suppressing system jitter. Based on the IDOB to achieve effective observation compensation under noise disturbance and further improve the system robustness. The stability of the control is analyzed based on the Lyapunov function. The results show that the proposed method suppresses the jitter and improves the tracking performance and robustness of the servo system for different desired trajectories effectively.
引用
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页数:19
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