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Dongxue Fu,Ximei Zhao,Hao Yuan 제어·로봇·시스템학회 2022 International Journal of Control, Automation, and Vol.20 No.1
In the presence of uncertainties, the position tracking performance of permanent magnet linear synchronous motor (PMLSM) will be affected to varying degrees. The time delay estimation (TDE) method can estimate and eliminate the influence of uncertain factors. In order to automatically find the input gain under the optimal TDE error, an adaptive time delay estimation (ATDE) method is proposed by introducing adaptive control. Combined with the nonsingular terminal sliding mode control method, the convergence speed and robust performance of the system are further improved. In addition, through rigorous mathematical analysis, the stability of state variables is proved. Finally, some experimental results are given to prove the effective performance of the control method.
Dongxue Fu,Ximei Zhao,Jianguo Zhu 제어·로봇·시스템학회 2024 International Journal of Control, Automation, and Vol.22 No.2
This paper proposes a novel robust super-twisting nonsingular fast terminal sliding mode control method for high precision position tracking of permanent magnet linear synchronous motor (PMLSM). Based on the position tracking error of PMLSM, a nonsingular fast terminal sliding mode variable is constructed to avoid the singularity and achieve the convergence of the position error in a finite time. To improve the convergence speed of the super-twisting algorithm and solve the gain overestimation problem of the existing algorithm, a dual-layer nested adaptive adjustment law based on the super-twisting scheme is proposed, which does not need the information of the unknown uncertainties. While ensuring that the conditions of the existence of the sliding mode hold, the control gain is made as small as possible to obtain a continuous switching control law to suppress the effect of the chattering phenomenon. The Lyapunov stability proves the robustness and convergence of the system. Experimental results confirm the effectiveness and feasibility of the designed position tracking control scheme.