Abstract
Based on lines cluster approaching theory and inspired by the traditional exponent reaching law method, a new control method, lines cluster approaching mode control (LCAMC) method, is designed to improve the parameter simplicity and structure optimization of the control system. The design guidelines and mathematical proofs are also given. To further improve the tracking performance and the inhibition of the white noise, connect the active disturbance rejection control (ADRC) method with the LCAMC method and create the extended state observer based lines cluster approaching mode control (ESO-LCAMC) method. Taking traditional servo control system as example, two control schemes are constructed and two kinds of comparison are carried out. Computer simulation results show that LCAMC method, having better tracking performance than the traditional sliding mode control (SMC) system, makes the servo system track command signal quickly and accurately in spite of the persistent equivalent disturbances and ESO-LCAMC method further reduces the tracking error and filters the white noise added on the system states. Simulation results verify the robust property and comprehensive performance of control schemes.
Highlights
The history of variable structure control (VSC) can be traced to 20th century 50s and it has been developing for more than 60 years
Computer simulation results show that lines cluster approaching mode control (LCAMC) method, having better tracking performance than the traditional sliding mode control (SMC) system, makes the servo system track command signal quickly and accurately in spite of the persistent equivalent disturbances and extended state observer (ESO)-LCAMC method further reduces the tracking error and filters the white noise added on the system states
After theoretical analysis and numerical simulations above, we can surely conclude that LCAMC method optimizes the tracking performance and convergence properties of traditional SMC method by making reaching phase and sliding mode phase into one
Summary
The history of variable structure control (VSC) can be traced to 20th century 50s and it has been developing for more than 60 years. Because of the nonlinear switching including in the Mathematical Problems in Engineering control law in this paper, the design method still belongs to variable structure control. References [16, 17] present the comparison between ADRC and SMC method in tracking performance, disturbing resistance, and the robustness, and [18] connects ADRC and SMC method to control the water level of steam generator (SG) where SMC replaces the nonlinear state feedback control error rate of ADRC.
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