Wang Geng, Zhou Yongsheng, Ni Lei, Aphale Sumeet S
Key Laboratory of Testing Technology for Manufacturing Process of Ministry of Education, Southwest University of Science and Technology, Mianyang, 621010, China; School of Mechanical and Power Engineering, Henan Polytechnic University, Jiaozuo, 454003, China.
School of Mechanical and Power Engineering, Henan Polytechnic University, Jiaozuo, 454003, China.
ISA Trans. 2023 May;136:560-570. doi: 10.1016/j.isatra.2022.10.028. Epub 2022 Nov 1.
This paper presents a new Global Fast Non-singular Terminal Sliding Mode Controller (GFNTSMC) that delivers high-precision tracking of high-frequency trajectories when applied to a piezo-driven nanopositioner. The control scheme is realized by combing inverse hysteresis model and global fast non-singular terminal sliding mode compensation. The inverse Bouc-Wen hysteresis model is used to calculate the required hysteresis-compensating feedforward control voltage according to the reference signal. The key uniqueness of the proposed control strategy is it's red global fast convergence, achieved with high accuracy and high bandwidth. The stability of the reported GFNTSMC controller is proved with the Lyapunov theory. Its performance is verified through experimentally recorded tracking results, and its superiority over three benchmark control approaches, namely the Proportional-Integral-Derivative (PID), the Positive Position Feedback with integral action (PPF+I) and the conventional linear high-order sliding mode controller (LHOSMC) is demonstrated through comparative tracking error analysis. Its wide-band stability as well as its significant robustness to parameter uncertainty is also showcased.
本文提出了一种新型的全局快速非奇异终端滑模控制器（GFNTSMC），当应用于压电驱动纳米定位器时，该控制器能够实现对高频轨迹的高精度跟踪。该控制方案通过结合逆磁滞模型和全局快速非奇异终端滑模补偿来实现。逆Bouc-Wen磁滞模型用于根据参考信号计算所需的磁滞补偿前馈控制电压。所提出的控制策略的关键独特之处在于其快速全局收敛性，能够以高精度和高带宽实现。通过李雅普诺夫理论证明了所报道的GFNTSMC控制器的稳定性。通过实验记录的跟踪结果验证了其性能，并通过比较跟踪误差分析证明了其相对于三种基准控制方法的优越性，这三种方法分别是比例积分微分（PID）、带积分作用的正位置反馈（PPF+I）和传统线性高阶滑模控制器（LHOSMC）。还展示了其宽带稳定性以及对参数不确定性的显著鲁棒性。
