Nonsingular Terminal Sliding Mode Based Prescribed Performance Control of Motor Servo Systems

doi:10.3901/JME.2023.24.359

Abstract

Abstract: Aiming at the angle tracking control problem of the motor servo systems, a prescribed performance controller combining nonsingular terminal sliding mode(NTSM) and extended state observer(ESO) is proposed. This method uses the prescribed performance function(PPF) to convert the angle tracking error into a transformation error, and indirectly ensure the tracking error is within the prescribed bound by controlling the boundedness of the transformation error. Constructing an ESO to observe the lumped uncertainties including parameters deviation, nonlinear friction, external disturbance, etc., and adding it to the controller's feedforward compensation term to improve tracking performance. A NTSM control law is designed to ensure the stability of the system in finite time. The Lyapunov stability theory proves that the proposed control strategy can guarantee the boundedness of the transformation error and the stability of the closed-loop system. The comparative experiment results based on the motor servo system experimental platform illustrate that the proposed controller has better tracking accuracy under the condition of the desired trajectory with different frequencies. Compared with the controller combining NTSM and ESO and the controller using NTSM alone, the tracking performance has been improved by about 14% and 37% respectively, which verifies the effectiveness of the strategy.

Key words: motor servo system, model uncertainty, prescribed performance, nonsingular terminal sliding mode, extended state observer

CLC Number:

TP273

ZHU Weilin, WANG Chao, DENG Wenxiang, LIANG Xianglong, YAO Jianyong. Nonsingular Terminal Sliding Mode Based Prescribed Performance Control of Motor Servo Systems[J]. Journal of Mechanical Engineering, 2023, 59(24): 359-366.

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