Finite-Time Continuous Terminal Sliding Mode Control of Servo Motor Systems

• Published in: IEEE transactions on industrial electronics (1982) Vol. 67; no. 7; pp. 5647 - 5656
• Main Authors: Hou, Huazhou, Yu, Xinghuo, Xu, Long, Rsetam, Kamal, Cao, Zhenwei
• Format: Journal Article
• Language: English
• Published: New York IEEE 01-07-2020; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Algorithms; Australia; Continuous control; Control algorithms; Control theory; DC motors; finite-time; Mechanical systems; Position control; Production planning; Robustness; Robustness (mathematics); servo motor terminal sliding mode; Servocontrol; Servomechanisms; Servomotors; Sliding mode control; tracking; Uncertainty
• ISSN: 0278-0046; 1557-9948
• DOI: 10.1109/TIE.2019.2931517

In this article, a continuous terminal sliding mode control algorithm is proposed for servo motor systems. A novel full-order terminal sliding mode surface is proposed based on the bilimit homogeneous property, such that the sliding motion is finite-time stable independent of the system's initial condition. A new continuous terminal sliding mode control algorithm is proposed to guarantee that the system states reach the sliding surface in finite-time. Not only the robustness is guaranteed by the proposed controller but also the continuity makes the control algorithm more suitable for the servo mechanical systems. Finally, a numerical example is presented to depict the advantages of the proposed control algorithm. An application in the rotary servo system is done to validate the effectiveness of the proposed control strategy.