标题：A Novel Sliding Mode Control Algorithm for a Servo Gantry with Guaranteed Transient Performance
作者：Zhang, Yangming; Yan, Peng
作者机构：[Zhang, Yangming; Yan, Peng] Beihang Univ, Sch Automat Sci & Elect Engn, Beijing 100191, Peoples R China.; [Yan, Peng] Shandong Univ, Minist Educ, S 更多
会议名称：36th Chinese Control Conference (CCC)
会议日期：JUL 26-28, 2017
来源：PROCEEDINGS OF THE 36TH CHINESE CONTROL CONFERENCE (CCC 2017)
关键词：Finite Time Control; Sliding Mode Control; Voice Coil Motor; Motion; Control
摘要：This paper investigates the tracking control problems of a voice coil motor (VCM) actuated servo gantry system. A novel sliding mode disturbance observer based control algorithm is proposed to accommodate both model uncertainties and various disturbances. In the proposed control architecture, the sliding mode observer is introduced to estimate the total disturbances such that the observer error can converge to zero in a finite time, and the fast terminal sliding mode (TSM) control technique is adopted to solve the tracking problem such that the tracking error can converge to zero in a finite time. Particularly, the singularity problem in the conventional TSM systems is avoided by switching the sliding mode function between two different terminal sliding structures. The finite-time stability of the whole closed-loop system is also proved. Finally, numerical simulations and real time experiments demonstrate excellent tracking performance of the proposed criteria.