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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Continuous Integral Terminal Third-Order Sliding Mode Motion Control for Piezoelectric Nanopositioning System
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Continuous Integral Terminal Third-Order Sliding Mode Motion Control for Piezoelectric Nanopositioning System

机译：压电纳米定位系统的连续积分终端三阶滑模运动控制

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摘要

This paper presents the design and testing of a novel continuous third-order integral terminal sliding mode control (3-ITSMC) strategy dedicated to motion tracking control of a piezoelectric-driven nanopositioning system. In comparison with the available sliding mode controllers, the significant improvement of the proposed controller lies in the fact that it completely eliminates the chattering effect, achieves a finite-time convergence, and produces a higher sliding mode precision. The model uncertainty involving the hysteresis effect is estimated by the perturbation estimation technique. Higher order derivatives of the position are generated by using a robust exact differentiator. Based on an integral terminal type of sliding surface, a third-order sliding mode precision is obtained by resorting to the third-order supertwisting algorithm. The convergence and stability have been proved in theory. The performance improvement of the developed controller versus the conventional second-order and third-order sliding mode controllers is validated by carrying out both simulation and experimental studies. Results demonstrate that the proposed 3-ITSMC controller provides quicker transient response speed and smaller steady-state error for the piezoelectric nanopositioning system along with a better robustness against model uncertainty and external disturbance.
机译：本文介绍了一种新颖的连续三阶整体终端滑模控制（3-ITSMC）策略的设计和测试，该策略专用于压电驱动纳米定位系统的运动跟踪控制。与现有的滑模控制器相比，所提出的控制器的显着改进在于，它完全消除了颤动效应，实现了有限时间收敛，并产生了更高的滑模精度。涉及滞后效应的模型不确定性通过微扰估计技术进行估计。位置的高阶导数通过使用鲁棒的精确微分器生成。基于整体终端类型的滑动表面，通过采用三阶超扭曲算法获得三阶滑模精度。理论上证明了收敛性和稳定性。通过进行仿真和实验研究，可以验证开发的控制器相对于传统的二阶和三阶滑模控制器的性能提高。结果表明，所提出的3-ITSMC控制器可为压电纳米定位系统提供更快的瞬态响应速度和较小的稳态误差，并具有更好的针对模型不确定性和外部干扰的鲁棒性。

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