A finite-time tracking control scheme is proposed in this paper based on the terminal sliding mode principle for motor servo systems with unknown nonlinear dead-zone inputs.By using the differential mean value theorem...A finite-time tracking control scheme is proposed in this paper based on the terminal sliding mode principle for motor servo systems with unknown nonlinear dead-zone inputs.By using the differential mean value theorem,the dead-zone is represented as a time-varying system and thus the inverse compensation approach is avoided.Then,an indirect terminal sliding mode control(ITSMC)is developed to guarantee the finite-time convergence of the tracking error and to overcome the singularity problem in the traditional terminal sliding mode control.In the proposed controller design,the unknown nonlinearity of the system is approximated by a simple sigmoid neural network,and the approximation error is diminished by employing a robust term.Comparative experiments on a turntable servo system are conducted to show the superior performance of the proposed method.展开更多
基金supported by the Scientific Research Foundation of the Education Department of Zhejiang Province,China under Grant No.Y201329260the Natural Science Foundation of Zhejiang Province,China under Grant No.LZ12E07003the National Natural Science Foundation of China under Grant No.51207139
文摘A finite-time tracking control scheme is proposed in this paper based on the terminal sliding mode principle for motor servo systems with unknown nonlinear dead-zone inputs.By using the differential mean value theorem,the dead-zone is represented as a time-varying system and thus the inverse compensation approach is avoided.Then,an indirect terminal sliding mode control(ITSMC)is developed to guarantee the finite-time convergence of the tracking error and to overcome the singularity problem in the traditional terminal sliding mode control.In the proposed controller design,the unknown nonlinearity of the system is approximated by a simple sigmoid neural network,and the approximation error is diminished by employing a robust term.Comparative experiments on a turntable servo system are conducted to show the superior performance of the proposed method.
