Journal article
Recursive sliding mode control with adaptive disturbance observer for a linear motor positioner
Mechanical Systems and Signal Processing, Vol.146, Article 107014
2021
Abstract
The control performance of linear motor (LM) is deteriorated by payload variations, friction, and external disturbances. In this paper, a robust recursive sliding mode controller combined with an adaptive disturbance observer (RSM-ADO) is proposed for the high-speed and high-precision control of an LM positioner. The benefits of the proposed ADO lie in that it can be designed without the need for the upper bound information of the disturbance and its derivative. Hence, the ADO is ideally capable of rejecting any time-varying disturbances. Furthermore, a recursive integral sliding surface is constructed for the RSM controller such that the reaching phase is eliminated. Benefiting from the proposed recursive structure, the tracking error can converge to zero in finite time. Besides, system chattering is eliminated in the reaching control input due to the integral element. Lyapunov analysis is investigated to prove the finite time convergence of the tracking error under the proposed RSM-ADO control scheme. Experiments demonstrate the superior property of stronger robustness and fewer chattering effects of the proposed method compared to existing disturbance observers and adaptive recursive terminal sliding mode (ARTSM) controller.
Details
- Title
- Recursive sliding mode control with adaptive disturbance observer for a linear motor positioner
- Authors/Creators
- K. Shao (Author/Creator) - Tsinghua UniversityJ. Zheng (Author/Creator) - Swinburne University of TechnologyH. Wang (Author/Creator) - Murdoch UniversityF. Xu (Author/Creator) - Tsinghua UniversityX. Wang (Author/Creator) - Tsinghua UniversityB. Liang (Author/Creator) - Tsinghua University
- Publication Details
- Mechanical Systems and Signal Processing, Vol.146, Article 107014
- Publisher
- Elsevier
- Identifiers
- 991005541367907891
- Copyright
- © 2020 Elsevier Ltd
- Murdoch Affiliation
- School of Engineering and Energy
- Language
- English
- Resource Type
- Journal article
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- Domestic collaboration
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- Citation topics
- 4 Electrical Engineering, Electronics & Computer Science
- 4.29 Automation & Control Systems
- 4.29.104 Adaptive Control
- Web Of Science research areas
- Engineering, Mechanical
- ESI research areas
- Engineering