Terminal sliding-mode based force tracking control of piezoelectric actuators for variable physical damping system

2014 ◽  
Author(s):  
Jinoh Lee ◽  
Maolin Jin ◽  
Nikolaos G. Tsagarakis ◽  
Darwin G. Caldwell
Keyword(s):  
Tracking Control ◽  
Sliding Mode ◽  
Piezoelectric Actuators ◽  
Terminal Sliding Mode ◽  
Force Tracking

Inversion-free force tracking control of piezoelectric actuators using fast finite-time integral terminal sliding-mode

Mechatronics ◽  
2019 ◽  
Vol 57 ◽  
pp. 39-50 ◽  
Author(s):  
Jinoh Lee ◽  
Maolin Jin ◽  
Navvab Kashiri ◽  
Darwin G. Caldwell ◽  
Nikolaos G. Tsagarakis
Keyword(s):  
Finite Time ◽  
Tracking Control ◽  
Sliding Mode ◽  
Piezoelectric Actuators ◽  
Terminal Sliding Mode ◽  
Time Integral ◽  
Force Tracking

Model-free robust finite-time force tracking control for piezoelectric actuators using time-delay estimation with adaptive fuzzy compensator

2019 ◽  
Vol 42 (3) ◽  
pp. 351-364
Author(s):  
Shengzheng Kang ◽  
Hongtao Wu ◽  
Xiaolong Yang ◽  
Yao Li ◽  
Yaoyao Wang
Keyword(s):  
Time Delay ◽  
Finite Time ◽  
Sliding Mode ◽  
Piezoelectric Actuators ◽  
Time Delay Estimation ◽  
Delay Estimation ◽  
Terminal Sliding Mode ◽  
Adaptive Fuzzy ◽  
Model Free ◽  
Force Tracking

A robust and practical force control system is crucial to the sensitive piezo-driven micromanipulation applications. This paper presents a new model-free robust finite-time force tracking controller for piezoelectric actuators (PEAs). The proposed controller composes of three intuitive terms: (1) a time-delay estimation (TDE) term that eliminates the requirement of detailed information about the PEA system, realizing model-free control; (2) a fast integral terminal sliding mode-based desired error dynamics injection term that ensures fast convergence and high tracking precision; (3) a correcting term based on adaptive fuzzy logic system that compensates for TDE errors caused by discontinuous nonlinearities and improves the robustness of the system. Force differential signal used in the controller is estimated online by a force state estimator. Stability of the closed-loop system and finite-time convergence are analyzed in theory. Comparative experiments are carried out on a PEA system with two superposed PEAs. Results show that the proposed control strategy has faster convergence, higher tracking accuracy and stronger robustness compared with the traditional TDE-based force controllers.

scholarly journals Finite-Time Terminal Sliding Mode Tracking Control for Piezoelectric Actuators

2014 ◽  
Vol 2014 ◽  
pp. 1-9 ◽  
Author(s):  
Jin Li ◽  
Liu Yang
Keyword(s):  
Finite Time ◽  
Tracking Control ◽  
Sliding Mode ◽  
Piezoelectric Actuators ◽  
Fast Response ◽  
Terminal Sliding Mode ◽  
Time Control ◽  
Sliding Mode Disturbance Observer ◽  
Control Scheme ◽  
Bounded Disturbances

This paper proposes a continuous finite-time control scheme using a new form of terminal sliding mode (TSM) combined with a sliding mode disturbance observer (SMDO). The proposed controller is applied for nanopositioning of piezoelectric actuators (PEAs). Nonlinearities, mainly hysteresis, can drastically degrade the system performance. Same as the model imperfection, hysteresis can also be treated as uncertainties of the system. These uncertainties can be addressed by terminal sliding mode control (TSMC) for it is promising for positioning and tracking control. To further improve the robustness of the TSM controller, the SMDO is employed to estimate the bounded disturbances and uncertainties. The robust stability of the TSMC is proved through a Lyapunov stability analysis. Simulation results demonstrate the effectiveness of the proposed TSM/SMDO controller for both positioning and tracking applications. The fast response, few chattering, and high precision positioning and tracking performances can be achieved in finite time by the proposed controller.

Terminal Sliding Tracking Control of Piezoelectric Actuators

2011 ◽  
Vol 381 ◽  
pp. 94-98
Author(s):  
Sheng Bao ◽  
Fu Zhang ◽  
Chao Dong Li
Keyword(s):  
Tracking Control ◽  
Sliding Mode ◽  
Piezoelectric Actuators ◽  
Parametric Uncertainties ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Precision Tracking ◽  
Simulation Results ◽  
System Errors ◽  
Control Methodology

There are parametric uncertainties, nonlinearities including the hysteresis effect, and other un-modeled disturbances existing in piezoelectric actuator systems. A terminal sliding mode control methodology is proposed in this paper. By using nonlinear TSM manifold, the system errors can converge to zero in finite time. So high-precision tracking performance can be achieved. Simulation results are presented to validate the design.

scholarly journals Formation Tracking Control for Multi-Agent Networks with Fixed Time Convergence via Terminal Sliding Mode Control Approach

Sensors ◽  
2021 ◽  
Vol 21 (4) ◽  
pp. 1416
Author(s):  
Guang-Hui Xu ◽  
Meng Li ◽  
Jie Chen ◽  
Qiang Lai ◽  
Xiao-Wen Zhao
Keyword(s):  
Tracking Control ◽  
Sliding Mode ◽  
Fixed Time ◽  
Stability Theorem ◽  
Control Task ◽  
Terminal Sliding Mode ◽  
Formation Tracking ◽  
Multi Agent ◽  
Error System ◽  
Agent Networks

This paper investigates formation tracking control for multi-agent networks with fixed time convergence. The control task is that the follower agents are required to form a prescribed formation within a fixed time and the geometric center of the formation moves in sync with the leader. First, an error system is designed by using the information of adjacent agents and a new control protocol is designed based on the error system and terminal sliding mode control (TSMC). Then, via employing the Lyapunov stability theorem and the fixed time stability theorem, the control task is proved to be possible within a fixed time and the convergence time can be calculated by parameters. Finally, numerical results illustrate the feasibility of the proposed control protocol.

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