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

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 initi...

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Bibliographic Details
Published inIEEE transactions on industrial electronics (1982) Vol. 67; no. 7; pp. 5647 - 5656
Main Authors Hou, Huazhou, Yu, Xinghuo, Xu, Long, Rsetam, Kamal, Cao, Zhenwei
Format Journal Article
LanguageEnglish
Published New York IEEE 01.07.2020
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Algorithms
Australia
Continuous control
Control algorithms
Control theory
DC motors
finite-time
Mechanical systems
Position control
Production planning
Robustness
Robustness (mathematics)
servo motor terminal sliding mode
Servocontrol
Servomechanisms
Servomotors
Sliding mode control
tracking
Uncertainty
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Summary: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.
ISSN:0278-0046
1557-9948
DOI:10.1109/TIE.2019.2931517