Adaptive nonsingular fast terminal sliding mode control for electromechanical actuator

作者：Li, Hao^*; Dou, Lihua; Su, Zhong

来源：International Journal of Systems Science, 2013, 44(3): 401-415.

DOI：10.1080/00207721.2011.601348

• nonsingular fast terminal sliding mode control
• composite adaptive law
• electromechanical actuator
• finite-time convergence

An adaptive nonsingular fast terminal sliding mode control scheme consisting of an adaptive control term and a robust control term for electromechanical actuator is proposed in this article. The adaptive control term with an improved composite adaptive law can estimate the uncertain parameters and compensate for the modelled dynamical uncertainties. While the robust control term, which is based on a modified nonsingular fast terminal sliding mode control method with fast terminal sliding mode (TSM) reaching law, provides fast convergence of errors, and robustifies the design against unmodelled dynamics. Furthermore, the control method eliminates the singular problems in conventional TSM control. On the basis of the finite-time stability theory and the differential inequality principle, it is proved that the resulting closed-loop system is stable and the trajectory tracking error converges to zero in finite time. Finally the effectiveness of the proposed method is illustrated by simulation and experimental study.

• 出版日期2013
• 单位北京理工大学