Abstract
To achieve high accurate position tracking of servo systems with backlash and friction nonlinearity, a terminal sliding mode controller with adaptive compensation is proposed in this paper. The nonlinear backlash model is converted into the linear expression in order to simplify the system for control-oriented design. The presented controller consists two parts, which are position tracking controller and nonlinear compensator. A novel terminal sliding mode controller is proposed by adopting a terminal sliding mode manifold, while making sure the control system could reach the sliding surface and converge to equilibrium point in finite time. The adaptive compensator is used to compensate the error caused by linearization and friction including static friction and viscous dissipation. Simulation results verify the reliability and effectiveness of the proposed method.
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