Simplified Newton-Based CEE and Discrete-Time Fractional-Order Sliding-Mode CEC

This paper presents a simplified Newton-based contouring error estimation (CEE) method and a discrete-time fractional-order sliding-mode contouring error control (CEC) strategy to obtain an excellent contouring motion performance for multidimensional systems. Specifically, the simplified Newton-base...

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Bibliographic Details
Published inIEEE/ASME transactions on mechatronics Vol. 24; no. 1; pp. 175 - 185
Main Authors Kuang, Zhian, Sun, Guanghui, Gao, Huijun
Format Journal Article
LanguageEnglish
Published New York IEEE 01.02.2019
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Algorithms
Computer numerical control
Contouring
Contouring error control (CEC)
contouring error estimation (CEE)
discrete-time control
Estimation
fractional order
Mathematical analysis
Matrix methods
Mechatronics
Multidimensional systems
Performance enhancement
Sliding mode control
Strategy
Task analysis
Uncertainty
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Summary:This paper presents a simplified Newton-based contouring error estimation (CEE) method and a discrete-time fractional-order sliding-mode contouring error control (CEC) strategy to obtain an excellent contouring motion performance for multidimensional systems. Specifically, the simplified Newton-based CEE (SNE) is modified from the Newton extremum seeking algorithm. Compared with existing CEE, the SNE method keeps the high precision; meanwhile, it requires less computing resources and avoids the possible singularity as no derivatives are demanded during the calculation. Moreover, the form of SNE is rather simple in a multidimensional system as the designed cost function in the SNE takes the vectors into consideration innovatively. To improve the performance further, a discrete-time fractional-order sliding-mode CEC (DFSMC) is proposed when the CEC strategy is designed. A novel fractional-order sliding surface is addressed, and the conclusion on its stability in a linear matrix inequality form is given out. Furthermore, the dynamics of the entire system are also analyzed in this paper. At last, groups of comparative experiments are implemented on a 2-degree-of-freedom linear-motor table, whose results validate the efficiency of the SNE-DFSMC strategy.
ISSN:1083-4435
1941-014X
DOI:10.1109/TMECH.2018.2878347