Journal
IEEE-ASME TRANSACTIONS ON MECHATRONICS
Volume 23, Issue 4, Pages 1521-1531Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2018.2853737
Keywords
Nanopositioning; piezoelectric actuators; precision motion control; sliding mode control (SMC)
Categories
Funding
- National Natural Science Foundation of China [51575545]
- Macao Science and Technology Development Fund [090/2015/A3]
- Australian Research Council [DP170102303]
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This paper presents the design of a new continuous third-order sliding mode robust control scheme dedicated to trajectory tracking control of a piezoelectric-actuated motion system. One uniqueness of the developed controller is that it achieves inherent chattering-free control action with finite-time convergence. The model uncertainty including the hysteresis effect is estimated by perturbation estimation technique. Higher order derivatives of the position are estimated by using a robust sliding mode observer. A novel third-order sliding mode control (TOSMC) is devised and its stability is proven based on Lyapunov analysis. The performance of the developed controller is validated and compared by carrying out real-time experimental studies. Results demonstrate remarkable robust tracking performance of the controller over existing second-order sliding mode control and TOSMC in terms of steady-state accuracy and robustness property with equivalent control effort.
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