Practical Tracking Control of Linear Motor With Adaptive Fractional Order Terminal Sliding Mode Control

This paper proposes a practical adaptive fractional order (FO) terminal sliding mode control (SMC) strategy for tracking control of the linear motor. Compared with conventional fast nonsingular SMC, the proposed approach, with a FO integral sliding surface and the adaptive switching input, can obtai...

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Bibliographic Details
Published inIEEE/ASME transactions on mechatronics Vol. 22; no. 6; pp. 2643 - 2653
Main Authors Sun, Guanghui, Ma, Zhiqiang
Format Journal Article
LanguageEnglish
Published New York IEEE 01.12.2017
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Adaptive control
Convergence
Disturbance observers
Fractional order (FO) terminal sliding mode
Friction
linear motor (LM)
Motion control
Robustness
Sliding mode control
Tracking
Tracking control
Twisting
Uncertainty
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Abstract This paper proposes a practical adaptive fractional order (FO) terminal sliding mode control (SMC) strategy for tracking control of the linear motor. Compared with conventional fast nonsingular SMC, the proposed approach, with a FO integral sliding surface and the adaptive switching input, can obtain higher convergence precision, even though the motion control system suffers from system uncertainties. The adaptive term is designed to guarantee finite-time high-precision convergence of the sliding mode variable, and meanwhile to degenerate the effect of uncertainties by selecting the proper adaptive gain. Moreover, continuous input due to cancelling the sign term ensures that the motion control system is chattering-free. Finally, to further improve precision, we introduce the super-twisting sliding mode disturbance observer for reducing unknown bounded disturbance, i.e., the quantization noise caused by velocity estimation. Experimental results indicate that the control system with the proposed controller is easily implemented, and has higher tracking precision and considerable robustness to uncertainties compared with the existing controllers.
AbstractList This paper proposes a practical adaptive fractional order (FO) terminal sliding mode control (SMC) strategy for tracking control of the linear motor. Compared with conventional fast nonsingular SMC, the proposed approach, with a FO integral sliding surface and the adaptive switching input, can obtain higher convergence precision, even though the motion control system suffers from system uncertainties. The adaptive term is designed to guarantee finite-time high-precision convergence of the sliding mode variable, and meanwhile to degenerate the effect of uncertainties by selecting the proper adaptive gain. Moreover, continuous input due to cancelling the sign term ensures that the motion control system is chattering-free. Finally, to further improve precision, we introduce the super-twisting sliding mode disturbance observer for reducing unknown bounded disturbance, i.e., the quantization noise caused by velocity estimation. Experimental results indicate that the control system with the proposed controller is easily implemented, and has higher tracking precision and considerable robustness to uncertainties compared with the existing controllers.
Author Guanghui Sun
Zhiqiang Ma
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Snippet This paper proposes a practical adaptive fractional order (FO) terminal sliding mode control (SMC) strategy for tracking control of the linear motor. Compared...
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SubjectTerms Adaptive control
Convergence
Disturbance observers
Fractional order (FO) terminal sliding mode
Friction
linear motor (LM)
Motion control
Robustness
Sliding mode control
Tracking
Tracking control
Twisting
Uncertainty
Title Practical Tracking Control of Linear Motor With Adaptive Fractional Order Terminal Sliding Mode Control
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