Trajectory Tracking Control of XY Table Using Sliding Mode Adaptive Control Based on Fast Double Power Reaching Law

Abstract

Currently, high velocity and precision are the main developing directions of the XY table. However, the nonlinear effects of friction at low speed deteriorate the precision of the XY table servo system. As a result, it is very important to design a control method to carry out friction compensation and trajectory tracking. In this paper, dual sliding mode state observers are used to estimate these immeasurable parameters in the dynamic LuGre model, and the Lyapunov function is used to design the adaptive update law. In addition, fast double power reaching law has the advantage of improving the global asymptotic convergence rate and overcoming these disadvantages where traditional sliding mode control reaching law causes severe chattering. Simulation results that compare the proposed method with exponent sliding mode control and PID control, demonstrate that the fast double power sliding mode control guarantees position and speed signals, tracking the desired references asymptotically.

Variable-parameter double-power reaching law sliding mode control method

“…The sliding mode control method based on the fast double-power reaching law is used to realize the asymptotic tracking of the position and velocity signals in ref. [7], which overcomes the disadvantage of serious chattering caused by the traditional sliding mode control reaching law. A generalized discrete-time reaching law for sliding variables with arbitrary relative degree is proposed in ref.…”

State Estimation with Reduced-Order Observer and Adaptive-LQR Control of Time Varying Linear System

“…Lyapunov-based adaptive control method that is generally more effective on the system performance is preferred in different fields and control mechanisms. Among the applications and the examples of usage area of the Lyapunov-based adaptive control method, there are position control of permanent magnet synchronous motor [17], [18], X-Y table experimental platforms control [19], [20], DC motor speed control [21], and the design of a stable and robust tension controller.…”

Kalman Filtresi ile Ayrık Zamanlı Durum Tahmini ve Zamanla Değişen Doğrusal Bir Sistemin Adaptif LQR Kontrolü

“…The Lyapunov based adaptive control method that is generally more effective on the system performance, and it is preferred in different fields and control mechanisms. Among the applications as the examples of usage area of the Lyapunov-based adaptive control method are position control of permanent magnet synchronous motor [16], X-Y table experimental platforms control [17][18], DC motor speed control [19], and design of a stable and robust tension controller [20].…”