TY - GEN
T1 - High-Order Sliding Mode Control for Flexible Servo Systems using Fully Actuated System Approach
AU - Wang, Yuzhong
AU - Duan, Guangren
AU - Li, Ping
N1 - Publisher Copyright:
© 2024 IEEE.
PY - 2024
Y1 - 2024
N2 - This paper presents a high-order sliding mode control scheme for servo systems with the unknown disturbance via the fully actuated system (FAS) approach. Firstly, a three-order sliding surface based on the FAS approach is developed, and the integral part of the sliding surface contains the dynamical compensator, which can optimize the control performance of the system. Then, the asymptotical stability for sliding mode dynamics is ensured based on the Lyapunov technology. In addition, a sliding mode controller is proposed such that the unknown disturbance can be compensated and the trajectories of the system can be driven onto the sliding surface in a finite time. Finally, the effectiveness of the proposed approach is validated through comparative simulations.
AB - This paper presents a high-order sliding mode control scheme for servo systems with the unknown disturbance via the fully actuated system (FAS) approach. Firstly, a three-order sliding surface based on the FAS approach is developed, and the integral part of the sliding surface contains the dynamical compensator, which can optimize the control performance of the system. Then, the asymptotical stability for sliding mode dynamics is ensured based on the Lyapunov technology. In addition, a sliding mode controller is proposed such that the unknown disturbance can be compensated and the trajectories of the system can be driven onto the sliding surface in a finite time. Finally, the effectiveness of the proposed approach is validated through comparative simulations.
KW - FAS approach
KW - Sliding mode control (SMC)
KW - the dynamical compensator
KW - the unknown disturbance
UR - https://www.scopus.com/pages/publications/85200597233
U2 - 10.1109/FASTA61401.2024.10595211
DO - 10.1109/FASTA61401.2024.10595211
M3 - 会议稿件
AN - SCOPUS:85200597233
T3 - Proceedings of the 3rd Conference on Fully Actuated System Theory and Applications, FASTA 2024
SP - 1061
EP - 1065
BT - Proceedings of the 3rd Conference on Fully Actuated System Theory and Applications, FASTA 2024
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 3rd Conference on Fully Actuated System Theory and Applications, FASTA 2024
Y2 - 10 May 2024 through 12 May 2024
ER -