Non-singular terminal super-twitsing control of servo systems with backlash

Area of Science:

• Control Systems Engineering
• Robotics
• Mechatronics

Background:

• Servo systems often face challenges with time-varying disturbances, impacting control performance and robustness.
• Existing control methods may struggle to effectively mitigate unknown or parameter disturbances in real-time.
• The need for enhanced anti-interference and fault-tolerant capabilities in servo control is critical for reliable operation.

Purpose of the Study:

• To propose an advanced control strategy for improving servo system performance under dynamic disturbances.
• To develop a robust and fault-tolerant control method capable of handling parameter and unknown disturbances.
• To enhance the real-time estimation and compensation of system perturbations.

Main Methods:

• A nonsingular terminal super twisting sliding mode control (NTSTC) is developed by integrating third-order super-twisting and non-singular fast sliding mode concepts.
• A reduced-order generalized proportional-integral observer is designed for accurate real-time estimation of unknown disturbance components.
• The observer's estimates are utilized for feed-forward compensation within the NTSTC framework.

Main Results:

• The proposed NTSTC method significantly improves the anti-interference ability and robustness of servo motor control systems.
• Effective fault-tolerant control is achieved, addressing both parameter variations and unknown external disturbances.
• Simulation results validate the superior performance and effectiveness of the developed control algorithm.

Conclusions:

• The combined NTSTC and reduced-order observer approach offers a powerful solution for enhancing servo system control.
• This method provides a robust framework for achieving high-performance control in the presence of significant disturbances.
• The study demonstrates the successful implementation of fault-tolerant control strategies for servo systems.