Adaptive backstepping sliding mode control of flexible ball screw drives with time-varying parametric uncertainties and disturbances

Dong, Liqun; Tang, Wen

doi:10.1016/j.isatra.2013.08.009

Cited by 53 publications

(22 citation statements)

References 12 publications

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“…can be obtained and the controller coefficients are updated according to Equations (24)- (27), the sufficient conditions for the error convergence are: (24) and (25) as:…”

Section: Proposition 1 When the Controller (23) Is Applied To A Linementioning

confidence: 99%

“…Moreover, the problem of modeling and tracking control for a high speed ball screw drive, which includes time-varying parametric uncertainties and disturbances, can be solved when a function approximation technique based on Fourier series expansion is applied to estimate the total uncertainties containing inertia uncertainties, stiffness uncertainties and external disturbances [27].…”

Section: Introductionmentioning

confidence: 99%

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Fourier Series Learning Control for Torque Ripple Minimization in Permanent Magnet Synchronous Motors

et al. 2016

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Abstract:A new Fourier Series Learning Controller (FSLC) for velocity control on a Permanent Magnet Synchronous Motor (PMSM) is proposed and implemented. An analysis of the error convergence for the FSLC is presented, and the update law for the Fourier series coefficients is specified. The field-oriented control method is used as a basic element to implement three different controllers for a PMSM. The performance of the FSLC is compared with two control methods, a classical PI (Proportional Integral) controller and an artificial neural network controller. The periodic nature of torque ripple in PMSMs is considered as a periodic disturbance, which must be compensated by the controller. With the FSLC implementation, a substantial reduction of the velocity ripple is obtained. Furthermore, a higher speed of learning is achieved with the FSLC in comparison with the artificial neural network.

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“…can be obtained and the controller coefficients are updated according to Equations (24)- (27), the sufficient conditions for the error convergence are: (24) and (25) as:…”

Section: Proposition 1 When the Controller (23) Is Applied To A Linementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Fourier Series Learning Control for Torque Ripple Minimization in Permanent Magnet Synchronous Motors

et al. 2016

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“…A substantial amount of work on nonlinear adaptive and Sliding Mode Control (SMC) methods has been reported in the literature in relation to friction rejection. The reader is indicatively referred to [28,29,30,31,32,33], as well as to [34,35,36,37,38,39,40,41]. Although the powerful robustness properties of these controller families have been extensively analysed, their performance and applicability to machine tool control had not been adequately assessed, especially in comparison to the conventional P-PI cascades.…”

Section: Introductionmentioning

confidence: 99%

Adaptive and sliding mode friction-resilient machine tool positioning – Cascaded control revisited

Papageorgiou

Blanke

Niemann

et al. 2019

Mechanical Systems and Signal Processing

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Needs for high-accuracy tool positioning and accurate trajectory following have renewed the focus on controller design for machine tools. While state-of-the-art solutions, based on Proportional (P) and Proportional-Integral (PI) cascades, achieve sufficient nominal performance, axis positioning accuracy quickly degrades in the presence of additional wear-related friction. Sliding-mode and nonlinear adaptive controllers with no cascaded architecture can alleviate such performance deterioration at the cost, however, of significantly increased design complexity. This is mainly due to the fact that such architectures facilitate addressing more nonlinear phenomena, such as load dynamic friction. This paper investigates three nonlinear controllers with cascaded architecture for machine tool axis positioning. A comparative analysis of the positioning solutions is carried out and it is shown that a cascaded scheme comprising a proportional and a super-twisting sliding-mode controller offers superior friction-resilient axis positioning. Moreover, its design complexity is comparable to that of the conventional P-PI solution. Experimental results obtained from a single-axis test setup equipped with commercial industrial equipment validate the theoretical findings.

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“…Sliding-Mode Control (SMC) is e ciently applied for the stabilization and controller design of various linear and nonlinear dynamical systems such as singular systems [2], robotic manipulators [3], nonholonomic mobile robots [4,5], fractional order systems [6], chaotic systems [7,8], under-actuated systems [9], etc. SMC is an in uential control technique, which has access to the favorite responses in spite of the uncertainties and disturbances [10,11]. The important features of SMC technique are robustness against parametric uncertainties, superior transient performance, quick responses, insensitivity to the bounded external disturbances, and computational simplicity compared to other robust control techniques [12].…”

Section: Introduction 1background and Motivationsmentioning

confidence: 99%

Nonsingular fast terminal sliding-mode stabilizer for a class of uncertain nonlinear systems based on disturbance observer

Mobayen

Tchier

2017

Scientia Iranica

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Abstract. This paper investigates a novel nonsingular fast terminal sliding-mode control method for the stabilization of the uncertain time-varying and nonlinear thirdorder systems. The designed disturbance observer satis es the nite-time convergence of the disturbance approximation error and the suggested nite-time stabilizer assures the presence of the switching behavior around the switching curve in the nite time. Furthermore, this approach can overcome the singularity problem of the fast terminal sliding-mode control technique. Moreover, knowledge about the upper bounds of the disturbances is not required and the chattering problem is eliminated. Usefulness and e ectiveness of the o ered procedure are con rmed by numerical simulation results.

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Adaptive backstepping sliding mode control of flexible ball screw drives with time-varying parametric uncertainties and disturbances

Cited by 53 publications

References 12 publications

Fourier Series Learning Control for Torque Ripple Minimization in Permanent Magnet Synchronous Motors

Fourier Series Learning Control for Torque Ripple Minimization in Permanent Magnet Synchronous Motors

Adaptive and sliding mode friction-resilient machine tool positioning – Cascaded control revisited

Nonsingular fast terminal sliding-mode stabilizer for a class of uncertain nonlinear systems based on disturbance observer

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