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Adaptive Terminal Sliding Mode Control for Servo Systems with Nonlinear Compensation

机译：具有非线性补偿的伺服系统自适应终端滑模控制

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摘要

To achieve high accurate position tracking of servo systems with backlash and friction nonlinearity, a terminal sliding mode controller with adaptive compensation is proposed in this paper. The nonlinear backlash model is converted into the linear expression in order to simplify the system for control-oriented design. The presented controller consists two parts, which are position tracking controller and nonlinear compensator. A novel terminal sliding mode controller is proposed by adopting a terminal sliding mode manifold, while making sure the control system could reach the sliding surface and converge to equilibrium point in finite time. The adaptive compensator is used to compensate the error caused by linearization and friction including static friction and viscous dissipation. Simulation results verify the reliability and effectiveness of the proposed method.
机译：为了实现带有间隙和摩擦非线性的伺服系统的高精度位置跟踪，提出了一种具有自适应补偿的终端滑模控制器。非线性反冲模型被转换为线性表达式，以简化面向控制设计的系统。提出的控制器由位置跟踪控制器和非线性补偿器两部分组成。提出了一种新型的终端滑模控制器，它采用了终端滑模歧管，同时确保控制系统能够在有限的时间内到达滑动表面并收敛到平衡点。自适应补偿器用于补偿线性化和摩擦引起的误差，包括静摩擦和粘性耗散。仿真结果验证了该方法的可靠性和有效性。

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