Abstract
Permanent magnet linear synchronous motor (PMLSM) is widely used in robot systems. Nonsingular terminal sliding mode control based on robust compensator was proposed to improve position tracking ability and anti-interference ability of PMLSM to improve the system control performance. Firstly, the sliding mode controller was designed by using nonsingular terminal sliding mode, which ensures that the system has good control accuracy and faster convergence speed. Then, the super twisting algorithm was used to construct the auxiliary sliding mode function, and deigned the robust compensator. The controller handles the uncertainty of the system by smoothing the control input, and ensures that the system can reach a stable state in a limited time. Finally, the model is built and verified by simulation. The comparison results showed that the controller has high tracking performance and strong anti-interference ability, which can significantly reduce the position tracking error of the system and weaken the chattering phenomenon of sliding mode.