Adaptive Non-Singular Terminal Sliding Mode Control Method for Electromagnetic Linear Actuator
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In this paper , an adaptive non-singular terminal sliding mode controller (ANTSMC) based on an improved disturbance observer (IDOB) is proposed to further improve the dynamic performance and steady-state accuracy of the EMLA.Abstract:
In this study, to further improve the dynamic performance and steady-state accuracy of the electromagnetic linear actuator (EMLA) for the direct-drive system, the adaptive non-singular terminal sliding mode controller (ANTSMC) based on an improved disturbance observer (IDOB) is proposed. Accurate modeling of the EMLA based on the LuGre friction model was obtained by identification. Aiming at the continuous disturbance of the system, a non-singular terminal sliding mode control based on improved exponential reaching law (IERL) is designed, which is combined with the advantages of fuzzy control. Adaptive adjustment of the IERL gain is achieved to ensure finite time convergence of the tracking error while suppressing system jitter. Based on the IDOB to achieve effective observation compensation under noise disturbance and further improve the system robustness. The stability of the control is analyzed based on the Lyapunov function. The results show that the proposed method suppresses the jitter and improves the tracking performance and robustness of the servo system for different desired trajectories effectively.read more
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Refined Modeling Method and Analysis of an Electromagnetic Direct-Drive Hydrostatic Actuation System
TL;DR: In this article , the authors analyzed the working characteristics of an electromagnetic direct-drive hydrostatic actuation system (EDHAS) and established a dynamic model of the electromagnetic linear actuator including the LuGre friction model.
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Adaptive disturbance observer-based improved super-twisting sliding mode control for electromagnetic direct-drive pump
TL;DR: In this article , an adaptive disturbance observer-based improved super-twisting sliding mode control (ISTSMC-ADOB) is proposed to address the problem in which the response quality is deteriorated by factors such as parameter mismatch and disturbance.
Adaptive disturbance observer-based improved super-twisting sliding mode control for electromagnetic direct-drive pump
TL;DR: In this paper , an adaptive disturbance observer-based improved super-twisting sliding mode control (ISTSMC-ADOB) is proposed to address the problem in which the response quality is deteriorated by factors such as parameter mismatch and disturbance.
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A Control Method Based on a Simple Dynamic Optimizer: An Application to Micromachines with Friction
TL;DR: In this article , a new regulation control method based on a simple dynamic optimizer is proposed, which has a finite-time convergence to the optimal value of a given performance index.
References
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TL;DR: The sliding mode control and observation (SOMO) approach has proven to be effective in dealing with complex dynamical systems affected by disturbances, uncertainties and unmodeled dynamics as discussed by the authors.
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Discrete-Time Fast Terminal Sliding Mode Control for Permanent Magnet Linear Motor
TL;DR: Rigorous analysis is provided to demonstrate that the fast terminal SMC law can offer a higher accuracy than the traditional linear SMClaw and show the advantages of the present discrete-time fast terminalSMC approach over some existing approaches, such as discrete- time linear sliding mode control approach and the PID control method.
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Composite Learning Robot Control With Friction Compensation: A Neural Network-Based Approach
Kai Guo,Yongping Pan,Haoyong Yu +2 more
TL;DR: A modified neural network structure with additional jump approximation activation functions to model the inherent discontinuous friction in robotic systems, this structure allows to improve the NN approximation accuracy without using too many NN nodes.
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Identification and Compensation of Nonlinear Friction Characteristics and Precision Control for a Linear Motor Stage
TL;DR: In this article, a DC brushless linear motor is used to actuate a gantry stage to perform printing to compensate for the tracking error associated with nonlinear friction, the dynamics of the nonlinear static friction are formulated using the Hsieh-Pan model.
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Review of sliding mode based control techniques for control system applications
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