控制理论(社会学)
滑模控制
整体滑动模态
稳健性(进化)
变结构控制
解耦(概率)
超调(微波通信)
PID控制器
国家观察员
鲁棒控制
运动控制
工程类
控制系统
控制工程
计算机科学
机器人
非线性系统
物理
控制(管理)
人工智能
温度控制
生物化学
化学
电气工程
量子力学
基因
作者
Junchi Li,Mingyi Wang,Chengming Zhang,Minghong Liu,Liyi Li
出处
期刊:IEEE Transactions on Power Electronics
[Institute of Electrical and Electronics Engineers]
日期:2024-01-15
卷期号:39 (8): 9174-9188
标识
DOI:10.1109/tpel.2024.3353819
摘要
In this paper, a high-performance control method based on high order sliding mode control theory is proposed to improve the trajectory tracking performance of the six-degreeof-freedom micro-motion stage (6-DOF MMS) and suppress the crosstalk between different degrees of freedom. The internal coupling mechanism of MMS is analyzed to implement a static decoupling control design, upon which the position loop controller is designed: A high-order sliding mode observer (HOSMO) is proposed for estimating velocity states and compensating for concentrated disturbances, enabling dynamic decoupling compensation to be achieved. An adaptive super-twisting algorithm (ASTA) is proposed for reaching law design to effectively mitigate the chattering phenomenon and dynamically enhance the approach rate. A non-singular fast terminal sliding mode (NFTSM) surface is proposed to ensure finite-time convergence of the system states, while avoiding singularities in the control law. Finally, the proposed control method is evaluated against proportional-integral-differential (PID) control, integral sliding mode control (ISMC), and super-twisting sliding mode control (STSMC), through trajectory tracking and load testing experiments to demonstrate its feasibility and effectiveness. The results illustrate that the proposed controller exhibits rapid dynamic response without overshoot, minimal chattering, and demonstrates superior robustness against model uncertainties and external disturbances.
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