Finite-time tracking control for motor servo systems with unknown dead-zones
- 299 Downloads
A finite-time tracking control scheme is proposed in this paper based on the terminal sliding mode principle for motor servo systems with unknown nonlinear dead-zone inputs. By using the differential mean value theorem, the dead-zone is represented as a time-varying system and thus the inverse compensation approach is avoided. Then, an indirect terminal sliding mode control (ITSMC) is developed to guarantee the finite-time convergence of the tracking error and to overcome the singularity problem in the traditional terminal sliding mode control. In the proposed controller design, the unknown nonlinearity of the system is approximated by a simple sigmoid neural network, and the approximation error is diminished by employing a robust term. Comparative experiments on a turntable servo system are conducted to show the superior performance of the proposed method.
Key wordsDead zone finite-time control neural network servo system
Unable to display preview. Download preview PDF.
- Liu Y L, Ji Y F, Cheng Z, and Jia T, Speed and rotor position identification for PMSM based on improved nonsingular terminal sliding-mode, Advanced Materials Research, 2012, 424–425: 796–800.Google Scholar
- Zheng X M, Li Q M, Wang W, and Feng Y, Higher-order nonsingular terminal sliding mode deadtime compensation method in PMSM, 37th Annual Conference on IEEE Industrial Electronics Society, Melbourne, November 2011, 592–597.Google Scholar
- Li S H, Zhou M M, and Yu X H, Design and implementation of terminal sliding mode control method for PMSM speed regulation system, IEEE Transactions on Industrial Informatics, 10.1109/TII.2012.2226896, published online, November 2012.Google Scholar
- Na J, Ren X M, and Gao Y, et al. Adaptive neural network state predictor and tracking control for nonlinear time-delay systems, International Journal of Innovative Computing, Information, and Control, 2010, 6(2): 627–639.Google Scholar