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Discrete-Time Predictive Sliding Mode Control for a Constrained Parallel Micropositioning Piezostage.
- Source :
- IEEE Transactions on Systems, Man & Cybernetics. Systems; May2022, Vol. 52 Issue 5, p3025-3036, 12p
- Publication Year :
- 2022
-
Abstract
- This article proposes a new discrete-time predictive sliding mode control (DPSMC) for a parallel micropositioning piezostage to improve the motion accuracy in the presence of cross-coupling hysteresis nonlinearities and input constraints. Unlike the traditional linear discrete-time sliding mode control (DSMC), the proposed DPSMC is chattering free and has a faster convergence rate thanks to the design of a nonlinear discrete-time fast integral terminal sliding mode surface. Moreover, by combining with the receding horizon optimization, the sliding mode state is predicted to follow the expected trajectory of a predefined continuous sliding mode reaching law, which also allows the proposed controller to explicitly deal with constraints. The stability of the closed-loop system is analyzed under the model disturbances and constraints, and proves that the proposed DPSMC can offer a smaller quasi-sliding mode bandwidth than the traditional DSMC. The effectiveness of the proposed controller is validated by a series of numerical simulations and experiments. Results demonstrate the advantages of proposed DPSMC over the traditional DSMC method. [ABSTRACT FROM AUTHOR]
- Subjects :
- SLIDING mode control
PIEZOELECTRIC actuators
CLOSED loop systems
Subjects
Details
- Language :
- English
- ISSN :
- 21682216
- Volume :
- 52
- Issue :
- 5
- Database :
- Complementary Index
- Journal :
- IEEE Transactions on Systems, Man & Cybernetics. Systems
- Publication Type :
- Academic Journal
- Accession number :
- 156342707
- Full Text :
- https://doi.org/10.1109/TSMC.2021.3062581