Tracking Error Constrained Terminal Sliding Mode Control for Ball-Screw Driven Motion Systems with State Observer

被引：0
作者：
Soo-Chang Park
Jang-Myung Lee
Seong-Ik Han
机构：
[1] Pusan National University,Division of Robotics Convergence
[2] Pusan National University,Department of Electronic Engineering
[3] Dongguk University Gyeongju,Department of Mechanical System Engineering
来源：
International Journal of Precision Engineering and Manufacturing | 2018年 / 19卷
关键词：
Ball-screw driven system; Nonsingular sliding mode control; Predefined performance control; Super-twist state observer; XY table system;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
In this study, a predefined performance constrained nonsingular sliding mode control is proposed, in which the assumed feedforward dynamic method and super-twisting state observer are combined to compensate unknown dynamics and estimate unmeasured velocity signal in the ball-screw driven servo system. Based on nonsingular sliding mode control, a new and higher convenient tracking error constraint method has been developed over the conventional complex constraint method. Next, a super-twisting state observer to exhibit higher estimation performance than the high-gain state observer is also considered. The finite convergence time is derived from the Lyapunov stability condition. Simulation and experiment results for the XY table system are presented to demonstrate the outstanding control performance of the proposed control scheme.
引用
收藏
页码：359 / 366
页数：7
相关论文
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