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首页> 外文期刊>IEEE transactions on industrial informatics >Tracking Control of a Linear Motor Positioner Based on Barrier Function Adaptive Sliding Mode
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Tracking Control of a Linear Motor Positioner Based on Barrier Function Adaptive Sliding Mode

机译：基于屏障功能自适应滑动模式的线性电机定位器跟踪控制

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The tracking performance of linear motor (LM) positioners is subject to payload uncertainty and external time-varying disturbances. Conventional robust controllers typically employ a high control gain that is substantially greater than the known a priori upper bound of the disturbance to ensure tracking error convergence. The main disadvantage of those controllers lies in that when the disturbance decreases, the control input is often overly generated, which then results in undesired control chattering effect or even actuator saturation. To overcome this problem, this article develops a robust tracking controller based on barrier function adaptive sliding mode (BFASM) for the LM positioners. The main benefits of BFASM are twofold: first, the controller is designed without the need for any disturbance information; second, its control gain is adaptively adjusted in terms of the amplitude of disturbance and, thus, leads to decreased control input when the disturbance becomes small. Furthermore, a modified barrier function (MBF) is proposed for applications with actuator saturation. It is proved that both the BFASM and MBF-based controllers can ensure the convergence of the tracking error into a prespecified neighborhood of zero in finite time. Experimental results on a real LM positioner demonstrate the superior properties of the developed controllers in comparison with two existing robust control schemes.
机译：线性电机（LM）定位器的跟踪性能受到有效载荷不确定性和外部时变干扰。传统的鲁棒控制器通常采用高控制增益，其基本上大于已知干扰的先验上限，以确保跟踪误差会聚。这些控制器的主要缺点在于，当干扰减小时，通常过度产生控制输入，然后导致不希望的控制抖动效果或甚至致动器饱和度。为了克服这个问题，本文基于LM定位器的屏障函数自适应滑动模式（BFASM）开发一个鲁棒跟踪控制器。 BFASM的主要好处是双重的：首先，控制器设计而无需任何干扰信息;其次，在干扰幅度方面自适应地调整其控制增益，因此当干扰变小时导致控制输入降低。此外，提出了修改的屏障功能（MBF），用于致动器饱和的应用。事实证明，基于BFASM和MBF的控制器可以确保跟踪误差在有限时间内将跟踪误差收敛到零的预定邻域中。实验结果在真实LM定位器上展示了与两个现有的强大控制方案相比的开发控制器的优异特性。

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