Finite-Time Continuous Terminal Sliding Mode Control of Servo Motor Systems

被引：152

作者：

Hou, Huazhou ^{[1
,2
]}

Yu, Xinghuo ^{[2
]}

Xu, Long ^{[2
,3
]}

Rsetam, Kamal ^{[4
,5
]}

Cao, Zhenwei ^{[4
]}

机构：

[1] Northeastern Univ, State Lab Synth Automat Proc Ind, Shenyang 110819, Peoples R China

[2] RMIT Univ, Sch Engn, Melbourne, Vic 3001, Australia

[3] Southeast Univ, Sch Automat, Minist Educ, Key Lab Measurement & Control CSE, Nanjing 210096, Peoples R China

[4] Swinburne Univ Technol, Fac Sci Engn & Technol, Melbourne, Vic 3122, Australia

[5] Univ Baghdad, Al Khwarizmi Coll Engn, Automated Mfg Dept, Baghdad 10071, Iraq

来源：

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS | 2020年 / 67卷 / 07期

基金：

澳大利亚研究理事会;

关键词：

Servomotors; DC motors; Sliding mode control; Uncertainty; Australia; Position control; Robustness; Continuous control; finite-time; servo motor terminal sliding mode; tracking; MOTION CONTROL; DESIGN; STABILIZATION; STABILITY;

D O I：

10.1109/TIE.2019.2931517

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 article, a continuous terminal sliding mode control algorithm is proposed for servo motor systems. A novel full-order terminal sliding mode surface is proposed based on the bilimit homogeneous property, such that the sliding motion is finite-time stable independent of the system's initial condition. A new continuous terminal sliding mode control algorithm is proposed to guarantee that the system states reach the sliding surface in finite-time. Not only the robustness is guaranteed by the proposed controller but also the continuity makes the control algorithm more suitable for the servo mechanical systems. Finally, a numerical example is presented to depict the advantages of the proposed control algorithm. An application in the rotary servo system is done to validate the effectiveness of the proposed control strategy.

引用

页码：5647 / 5656

页数：10

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