Adaptive disturbance observer-based continuous nonsingular terminal sliding-mode control for permanent-magnet spherical actuator

被引：0
|
作者：
Wang Q.-J. [1 ,2 ]
Liu Z.-Y. [1 ,2 ]
Li G.-L. [1 ,3 ]
Wen Y. [4 ,5 ]
机构：
[1] School of Electrical Engineering and Automation, Anhui University, Hefei
[2] National Engineering Laboratory of Energy-saving Motor & Control Technology, Anhui University, Hefei
[3] Anhui Key Laboratory of Power Quality, Ministry of Education, Anhui University, Hefei
[4] Anhui Collaborative Innovation Center of Industrial Energy-Saving and Power Quality Control, Anhui University, Hefei
[5] School of Internet, Anhui University, Hefei
来源：
Dianji yu Kongzhi Xuebao/Electric Machines and Control | 2022年 / 26卷 / 08期
关键词：
adaptive disturbance observer; dynamic model; permanent-magnet spherical actuator; terminal sliding-mode control; torque model; trajectory tracking;
D O I：
10.15938/j.emc.2022.08.008
中图分类号：
学科分类号：
摘要：
In this paper, aiming at the trajectory tracking problem of a new type permanent-magnet spherical actuator (PMSA), a continuous nonsingular terminal sliding-mode control strategy based on adaptive disturbance observer is proposed. Firstly, the dynamic model of PMSA with the lumped disturbances was constructed by Lagranges Equation of the Second Kind. After that, according to the principle of linear superposition, the torque model of PMSA was established. Then, in order to reduce the influence of lumped disturbances on the tracking control of PMSA, an adaptive disturbance observer was designed to estimate the unknown lumped disturbances including external disturbances, friction torque, dynamic modeling errors and torque modeling errors. In addition, a continuous nonsingular terminal sliding-mode control algorithm based on the nominal dynamic model of PMSA was proposed. Finally, the stability of the proposed control algorithm was guaranteed by the Lyapunov theory and the convergence of the tracking error was analyzed. Simulation comparison and experimental results verify the effectiveness and accuracy of the proposed control strategy. © 2022 Editorial Department of Electric Machines and Control. All rights reserved.
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页码：66 / 78
页数：12
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