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Adaptive Non-Singular Terminal Sliding Mode Control Method for Electromagnetic Linear Actuator.

Yingtao Lu1, Jiayu Lu1, Cao Tan1,2

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Summary

This study introduces an adaptive non-singular terminal sliding mode controller (ANTSMC) with an improved disturbance observer (IDOB) to enhance electromagnetic linear actuator (EMLA) performance. The novel approach effectively suppresses jitter and boosts tracking accuracy for direct-drive systems.

Keywords:
disturbance observerelectromagnetic linear actuatorexponential reaching lawfriction modelnon-singular terminal sliding mode control

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Area of Science:

  • Control Systems Engineering
  • Robotics
  • Mechatronics

Background:

  • Electromagnetic linear actuators (EMLAs) are crucial for direct-drive systems but face challenges with dynamic performance and steady-state accuracy.
  • System disturbances and friction, particularly modeled by the LuGre friction model, significantly impact EMLA precision.
  • Existing control strategies often struggle with jitter suppression and robustness against noise.

Purpose of the Study:

  • To propose an advanced adaptive non-singular terminal sliding mode controller (ANTSMC) integrated with an improved disturbance observer (IDOB).
  • To enhance the dynamic performance and steady-state accuracy of EMLAs in direct-drive applications.
  • To effectively suppress system jitter and improve robustness against continuous and noise disturbances.

Main Methods:

  • Accurate EMLA modeling using the LuGre friction model through system identification.
  • Design of a non-singular terminal sliding mode control (TSMC) incorporating an improved exponential reaching law (IERL) and fuzzy control principles.
  • Development of an improved disturbance observer (IDOB) for effective noise and continuous disturbance compensation.
  • Adaptive gain adjustment of the IERL to ensure finite-time convergence and minimize jitter.
  • Lyapunov function-based stability analysis of the proposed control strategy.

Main Results:

  • The proposed ANTSMC with IDOB effectively suppresses jitter in the EMLA servo system.
  • Significant improvements in tracking performance and steady-state accuracy were observed across various desired trajectories.
  • Enhanced system robustness against continuous and noise disturbances was demonstrated.
  • Finite-time convergence of tracking errors was achieved, validating the adaptive IERL design.

Conclusions:

  • The ANTSMC combined with IDOB offers a superior control solution for EMLAs in direct-drive systems.
  • The method provides effective jitter suppression, improved tracking accuracy, and enhanced robustness.
  • This approach represents a significant advancement in precision motion control for EMLAs.