Position tracking control for permanent magnet linear motor via fast nonsingular terminal sliding mode control

Abstract

In this paper, for the position control problem of permanent magnet linear motors, a fast nonsingular terminal sliding mode control (FNTSMC) method based on the finite-time disturbance observer (FTDO) is proposed. By employing a fast nonsingular terminal sliding surface, the FNTSMC is designed. Besides, a FTDO is applied to estimate the disturbance and the estimation is served as compensation for the controller. A rigorous analysis based on the Lyapunov stability theory is provided to prove that the proposed control method can achieve faster dynamic response characteristic and higher steady accuracy than the linear sliding mode control method and the PID control method. Numerical simulation results are explored to illustrate the superiority of the proposed approach.