Adaptive Terminal Sliding Mode Control for Servo Systems with Nonlinear Compensation
To achieve high accurate position tracking of servo systems with backlash and friction nonlinearity, a terminal sliding mode controller with adaptive compensation is proposed in this paper. The nonlinear backlash model is converted into the linear express
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Abstract To achieve high accurate position tracking of servo systems with backlash and friction nonlinearity, a terminal sliding mode controller with adaptive compensation is proposed in this paper. The nonlinear backlash model is converted into the linear expression in order to simplify the system for control-oriented design. The presented controller consists two parts, which are position tracking controller and nonlinear compensator. A novel terminal sliding mode controller is proposed by adopting a terminal sliding mode manifold, while making sure the control system could reach the sliding surface and converge to equilibrium point in finite time. The adaptive compensator is used to compensate the error caused by linearization and friction including static friction and viscous dissipation. Simulation results verify the reliability and effectiveness of the proposed method. Keywords Servo system Nonlinear compensation
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Terminal sliding mode control
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Adaptive control
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1 Introduction Servo systems have been widely used in the fields of military and industry applications. To satisfy the industry requirement, servo systems should be qualified for high-tracking speed and high-accuracy performance. Furthermore, compared with other control systems, nonlinearity of gear backlash and friction always existed in servo system control problem. Terminal sliding mode control proposed by Venkataraman [1] can converge to equilibrium in finite time. Feng [2] developed a kind of hybrid terminal sliding mode observer in order to achieve better performance in rotor position and speed estimation of permanent-magnet synchronous motor control system. A new form of
T. Zeng ⋅ X. Ren (✉) ⋅ W. Zhao ⋅ S. Wang School of Automation, Beijing Instituted of Technology, Beijing 100081, China e-mail: [email protected] © Springer Science+Business Media Singapore 2016 Y. Jia et al. (eds.), Proceedings of 2016 Chinese Intelligent Systems Conference, Lecture Notes in Electrical Engineering 405, DOI 10.1007/978-981-10-2335-4_24
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terminal sliding mode is used in [3] for rigid robotic manipulators, which can achieve faster and high-precision tracking performance. In [4], terminal sliding mode control and its homogeneity are researched and used in design proposal for general finite time switching manifolds. Yan [5] designed a new terminal sliding mode controller for MEMS gyroscopes, which can make the control system reach sliding surface in finite time. In [6], a novel approach of adaptive fuzzy hierarchical terminal sliding mode controller is designed to make the error converge to zero in finite time. Obviously a variety of terminal sliding mode control methods are adopted in servo system control, especially for position tracking problems, in order to achieve higher control precision. The system performance is affected significantly by the nonlinearity of gear backlash and friction. Adaptive compensate methods are widely used as the treatment for nonlinear characteristic. In [7], to estimate the optimal bound of the lumped uncert
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