IDEAS home Printed from https://ideas.repec.org/a/taf/tsysxx/v44y2013i3p401-415.html
   My bibliography  Save this article

Adaptive nonsingular fast terminal sliding mode control for electromechanical actuator

Author

Listed:
  • Hao Li
  • Lihua Dou
  • Zhong Su

Abstract

An adaptive nonsingular fast terminal sliding mode control scheme consisting of an adaptive control term and a robust control term for electromechanical actuator is proposed in this article. The adaptive control term with an improved composite adaptive law can estimate the uncertain parameters and compensate for the modelled dynamical uncertainties. While the robust control term, which is based on a modified nonsingular fast terminal sliding mode control method with fast terminal sliding mode (TSM) reaching law, provides fast convergence of errors, and robustifies the design against unmodelled dynamics. Furthermore, the control method eliminates the singular problems in conventional TSM control. On the basis of the finite-time stability theory and the differential inequality principle, it is proved that the resulting closed-loop system is stable and the trajectory tracking error converges to zero in finite time. Finally the effectiveness of the proposed method is illustrated by simulation and experimental study.

Suggested Citation

  • Hao Li & Lihua Dou & Zhong Su, 2013. "Adaptive nonsingular fast terminal sliding mode control for electromechanical actuator," International Journal of Systems Science, Taylor & Francis Journals, vol. 44(3), pages 401-415.
    • Handle: RePEc:taf:tsysxx:v:44:y:2013:i:3:p:401-415
    DOI: 10.1080/00207721.2011.601348
    as

    Download full text from publisher

    File URL: http://hdl.handle.net/10.1080/00207721.2011.601348
    Download Restriction: Access to full text is restricted to subscribers.
    File URL: https://libkey.io/10.1080/00207721.2011.601348?utm_source=ideas
    LibKey link: if access is restricted and if your library uses this service, LibKey will redirect you to where you can use your library subscription to access this item
    ---><---

    As the access to this document is restricted, you may want to search for a different version of it.

    Citations

    Citations are extracted by the CitEc Project, subscribe to its RSS feed for this item.
    as


    Cited by:

    1. Thaned Rojsiraphisal & Saleh Mobayen & Jihad H. Asad & Mai The Vu & Arthur Chang & Jirapong Puangmalai, 2021. "Fast Terminal Sliding Control of Underactuated Robotic Systems Based on Disturbance Observer with Experimental Validation," Mathematics, MDPI, vol. 9(16), pages 1-17, August.
    2. Guoqing Geng & Qingyuan Shen & Haobin Jiang, 2019. "ANFTS Mode Control for an Electronically Controlled Hydraulic Power Steering System on a Permanent Magnet Slip Clutch," Energies, MDPI, vol. 12(9), pages 1-22, May.

    More about this item

    Statistics

    Access and download statistics

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:taf:tsysxx:v:44:y:2013:i:3:p:401-415. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    We have no bibliographic references for this item. You can help adding them by using this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Chris Longhurst (email available below). General contact details of provider: http://www.tandfonline.com/TSYS20 .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.