Research on improved adaptive sliding mode position control for translation mechanism servo system

Shengjie Wei; Ranjun Wang; Weiqiang Han; Tianji Cheng; Zhiwen Liu

doi:10.1117/12.3039433

28 August 2024 Research on improved adaptive sliding mode position control for translation mechanism servo system

Shengjie Wei, Ranjun Wang, Weiqiang Han, Tianji Cheng, Zhiwen Liu

Proceedings Volume 13251, Ninth International Conference on Electromechanical Control Technology and Transportation (ICECTT 2024); 132512Q (2024) https://doi.org/10.1117/12.3039433
Event: 9th International Conference on Electromechanical Control Technology and Transportation (ICECTT 2024), 2024, Guilin, China

Abstract

Aiming to solve the problems of slow convergence speed and poor positioning accuracy of the position servo system, we presents a novel second-order adaptive non-singular fast terminal sliding mode control method for the translation mechanism. First, we analyze a mathematical model of the translation mechanism that includes the uncertainty of other models. Then, we design a backstepping 2th-order adaptive non-singular terminal sliding mode controller (2ABNFTSMC) using the backstepping principle, which updates the control gain by establishing adaptive rules, resulting in high control accuracy. We theoretically demonstrate the stability of the method. By comparing with the traditional PI and sliding mode controllers, we verified the performance of the designed and developed controllers. The simulation results verify the effectiveness of the proposed 2ABFNTSMC in accelerating convergence and reducing steady-state error.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Shengjie Wei, Ranjun Wang, Weiqiang Han, Tianji Cheng, and Zhiwen Liu "Research on improved adaptive sliding mode position control for translation mechanism servo system", Proc. SPIE 13251, Ninth International Conference on Electromechanical Control Technology and Transportation (ICECTT 2024), 132512Q (28 August 2024); https://doi.org/10.1117/12.3039433

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KEYWORDS

Control systems

Servomechanisms

Design

Switching

Resistance

Systems modeling

Mathematical modeling

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