Second-order terminal sliding mode control based on perturbation estimation for nanopositioning stage
This study proposes a robust second-order terminal sliding mode control with perturbation estimation (2OTSMCPE) strategy with application to trajectory tracking control of the flexure-based nanopositioning system. The proposed controller advantages not only lie on its finite-time convergence but als...
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doaj-614ca8208136442b87bb5788f703fdb72021-04-02T18:51:20ZengWileyIET Cyber-systems and Robotics2631-63152020-11-0110.1049/iet-csr.2020.0024IET-CSR.2020.0024Second-order terminal sliding mode control based on perturbation estimation for nanopositioning stageAli Al-Ghanimi0Jinchuan Zheng1Jinchuan Zheng2Alaa Aldhalemi3Alaa Aldhalemi4Jasim Khawwaf5Zhihong Man6Zhihong Man7Faculty of Engineering, University of KufaSchool of Software and Electrical Engineering, Swinburne University of TechnologySchool of Software and Electrical Engineering, Swinburne University of TechnologyFaculty of Engineering, University of KufaFaculty of Engineering, University of KufaFaculty of Engineering, University of KufaSchool of Software and Electrical Engineering, Swinburne University of TechnologySchool of Software and Electrical Engineering, Swinburne University of TechnologyThis study proposes a robust second-order terminal sliding mode control with perturbation estimation (2OTSMCPE) strategy with application to trajectory tracking control of the flexure-based nanopositioning system. The proposed controller advantages not only lie on its finite-time convergence but also can provide a high tracking precision with a chattering alleviation which is attend by employing a second-order sliding surface with the switching function. The model of the piezo-driven nanopositioning system is presented first. Second, the sliding variable is designed such as proportional–integral–derivative form to enhance the dynamic response of the control system. Then, a non-singular terminal sliding function (NTSM) is used to achieve the finite-time convergence of the linear sliding variable. Next, a perturbation estimation technique is integrated with the control structure for online estimation of the system uncertainties, thus the prior knowledge of the bounds of system uncertainties are not needed in the proposed control design. Afterwards, the theoretical analysis of the 2OTSMCPE with stability proof is investigated herein. Finally, the system performance with the proposed controller is experimentally verified. The results reveal that the 2OTSMCPE has stronger robustness and also has smoother control signals in comparison with both conventional sliding mode control and the NTSM controller.https://digital-library.theiet.org/content/journals/10.1049/iet-csr.2020.0024control system synthesisnanopositioningvariable structure systemsrobust controlperturbation techniquesconvergenceswitching systems (control)nanopositioning stageperturbation estimation strategy2otsmcpetrajectory tracking controlfinite-time convergencetracking precisionswitching functioncontrol systemlinear sliding variableperturbation estimation techniquecontrol structureonline estimationsystem uncertaintiescontrol designsystem performancecontrol signalsntsm controllerflexure-based nanopositioning systemchattering alleviationproportional-integral-derivative formpiezo-driven nanopositioning systemstability proofrobustnessrobust second-order terminal sliding mode controlnonsingular terminal sliding function |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Ali Al-Ghanimi Jinchuan Zheng Jinchuan Zheng Alaa Aldhalemi Alaa Aldhalemi Jasim Khawwaf Zhihong Man Zhihong Man |
spellingShingle |
Ali Al-Ghanimi Jinchuan Zheng Jinchuan Zheng Alaa Aldhalemi Alaa Aldhalemi Jasim Khawwaf Zhihong Man Zhihong Man Second-order terminal sliding mode control based on perturbation estimation for nanopositioning stage IET Cyber-systems and Robotics control system synthesis nanopositioning variable structure systems robust control perturbation techniques convergence switching systems (control) nanopositioning stage perturbation estimation strategy 2otsmcpe trajectory tracking control finite-time convergence tracking precision switching function control system linear sliding variable perturbation estimation technique control structure online estimation system uncertainties control design system performance control signals ntsm controller flexure-based nanopositioning system chattering alleviation proportional-integral-derivative form piezo-driven nanopositioning system stability proof robustness robust second-order terminal sliding mode control nonsingular terminal sliding function |
author_facet |
Ali Al-Ghanimi Jinchuan Zheng Jinchuan Zheng Alaa Aldhalemi Alaa Aldhalemi Jasim Khawwaf Zhihong Man Zhihong Man |
author_sort |
Ali Al-Ghanimi |
title |
Second-order terminal sliding mode control based on perturbation estimation for nanopositioning stage |
title_short |
Second-order terminal sliding mode control based on perturbation estimation for nanopositioning stage |
title_full |
Second-order terminal sliding mode control based on perturbation estimation for nanopositioning stage |
title_fullStr |
Second-order terminal sliding mode control based on perturbation estimation for nanopositioning stage |
title_full_unstemmed |
Second-order terminal sliding mode control based on perturbation estimation for nanopositioning stage |
title_sort |
second-order terminal sliding mode control based on perturbation estimation for nanopositioning stage |
publisher |
Wiley |
series |
IET Cyber-systems and Robotics |
issn |
2631-6315 |
publishDate |
2020-11-01 |
description |
This study proposes a robust second-order terminal sliding mode control with perturbation estimation (2OTSMCPE) strategy with application to trajectory tracking control of the flexure-based nanopositioning system. The proposed controller advantages not only lie on its finite-time convergence but also can provide a high tracking precision with a chattering alleviation which is attend by employing a second-order sliding surface with the switching function. The model of the piezo-driven nanopositioning system is presented first. Second, the sliding variable is designed such as proportional–integral–derivative form to enhance the dynamic response of the control system. Then, a non-singular terminal sliding function (NTSM) is used to achieve the finite-time convergence of the linear sliding variable. Next, a perturbation estimation technique is integrated with the control structure for online estimation of the system uncertainties, thus the prior knowledge of the bounds of system uncertainties are not needed in the proposed control design. Afterwards, the theoretical analysis of the 2OTSMCPE with stability proof is investigated herein. Finally, the system performance with the proposed controller is experimentally verified. The results reveal that the 2OTSMCPE has stronger robustness and also has smoother control signals in comparison with both conventional sliding mode control and the NTSM controller. |
topic |
control system synthesis nanopositioning variable structure systems robust control perturbation techniques convergence switching systems (control) nanopositioning stage perturbation estimation strategy 2otsmcpe trajectory tracking control finite-time convergence tracking precision switching function control system linear sliding variable perturbation estimation technique control structure online estimation system uncertainties control design system performance control signals ntsm controller flexure-based nanopositioning system chattering alleviation proportional-integral-derivative form piezo-driven nanopositioning system stability proof robustness robust second-order terminal sliding mode control nonsingular terminal sliding function |
url |
https://digital-library.theiet.org/content/journals/10.1049/iet-csr.2020.0024 |
work_keys_str_mv |
AT alialghanimi secondorderterminalslidingmodecontrolbasedonperturbationestimationfornanopositioningstage AT jinchuanzheng secondorderterminalslidingmodecontrolbasedonperturbationestimationfornanopositioningstage AT jinchuanzheng secondorderterminalslidingmodecontrolbasedonperturbationestimationfornanopositioningstage AT alaaaldhalemi secondorderterminalslidingmodecontrolbasedonperturbationestimationfornanopositioningstage AT alaaaldhalemi secondorderterminalslidingmodecontrolbasedonperturbationestimationfornanopositioningstage AT jasimkhawwaf secondorderterminalslidingmodecontrolbasedonperturbationestimationfornanopositioningstage AT zhihongman secondorderterminalslidingmodecontrolbasedonperturbationestimationfornanopositioningstage AT zhihongman secondorderterminalslidingmodecontrolbasedonperturbationestimationfornanopositioningstage |
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1721550752966508544 |