Abstract
In this paper is proposed a control structure for a class of mechanical systems; this structure consists of a continuous controller based on nonsingular terminal sliding mode control plus uncertainty and disturbance estimator. Closed-loop stability is proved by designing an adequate sliding surface and showing the existence of sliding modes by the fulfillment of the reaching law. A controllers comparison using the nonsingular terminal sliding mode, first-order sliding mode, PID, and the proposed control structure is carried out through numerical simulations of a pendulum system, where the l 2 index is used to measure the performance of the controllers. Moreover, real-time experiments are performed in a mechanical system with a pneumatic actuator. The theoretical, numerical, and experimental results validate the feasibility, performance, and robustness of the proposed control structure.
Highlights
The design of trajectory tracking controllers has important usages in mechanical systems with electrical, pneumatic, or hydraulic actuators [1]–[4]
Several robust control techniques have been established for the tracking control of uncertain mechanical systems such as sliding mode control [5]–[7], fuzzy control [8]–[10], adaptive control [11], [12], PID control [13]–[16], among others
The given controller is based on nonsingular terminal sliding mode control and uncertainty and disturbance estimator
Summary
The design of trajectory tracking controllers has important usages in mechanical systems with electrical, pneumatic, or hydraulic actuators [1]–[4]. The motivation is to propose a control structure that offers a robust closed-loop performance against uncertainties and disturbances while using a continuous control signal In this way, it could be avoided the heat in the actuators when applying the control structure to mechanical systems, and the life cycle of the actuators could be improved while the robustness property is maintained. It could be avoided the heat in the actuators when applying the control structure to mechanical systems, and the life cycle of the actuators could be improved while the robustness property is maintained These advantages are achieved, first, by replacing the discontinuous gain of a terminal sliding mode control by a continuous expression, and second, the robustness property is kept by using an uncertainty and disturbance estimator, thereby it can be maintained the robustness of the closed-loop system while the control signal is continuous.
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