Chattering-Free Sliding-Mode Control for Electromechanical Actuator with Backlash Nonlinearity

Abstract

Considering the backlash nonlinearity and parameter time-varying characteristics in electromechanical actuators, a chattering-free sliding-mode control strategy is proposed in this paper to regulate the rudder angle and suppress unknown external disturbances. Different from most existing backlash compensation methods, a special continuous function is addressed to approximate the backlash nonlinear dead-zone model. Regarding the approximation error, unmodeled dynamics, and unknown external disturbances as a disturbance-like term, a strict feedback nonlinear model is established. Based on this nonlinear model, a chattering-free nonsingular terminal sliding-mode controller is proposed to achieve the rudder angle tracking with a chattering elimination and tracking dynamic performance improvement. A Lyapunov-based proof ensures the asymptotic stability and finite-time convergence of the closed-loop system. Experimental results have verified the effectiveness of the proposed method.

Dynamics of the Vibro-Impact Nonlinear Damped and Forced Oscillator under the Influence of the Electromagnetic Actuation

“…The first approximate solution Z 1 (τ,C i ) can be obtained from Equation (13) in which the functions f i are obtained from Equations ( 11) and (30), and the functions g j are obtained from Equations (12) and (31). The auxiliary functions F i are a combination of functions f i and g j but are not unique.…”

“…Askari and Tahani [12] studied the influence of the Casimir force on dynamic pull-in instability of a nanoelectromechanical beam under ramp-input voltage by increasing the slope of a voltage-time diagram. Ma et al [13] considered the backlash actuators, a chattering-free sliding-mode control strategy with the scope to regulate the rudder angle and suppress unknown external disturbances. A Lyapunov-based proof ensures the asymptotical stability and finite-time convergence of the closed-loop system.…”

Vibration Suppression of Electromechanical Actuator Considering Backlash Nonlinearity

“…However, the discontinuity of inverse model makes the controller design more complicated. Other nonlinear controllers such as sliding mode [3] and switched linear control, etc. [4] are studied.…”

Design Principle of Non-Switching Integral Sliding Mode Controller and Applications to Aerospace Vehicles

“…Therefore, chattering-free methods have been proposed. [1][2][3][4][5][6][7][8][9] The common methods to overcome the chattering are suppressing the magnitude of input near the sliding surface and in high frequency range. However, these smoothed sliding controllers cannot guarantee asymptotic stability from Lyapunov approach against the magnitudebounded uncertainty that satisfies the matching condition for general sliding mode control, or the sliding modes experience lose of generality, then, the controllers force the system into undesirable modes.…”