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Novel Load Disturbance Observer-based Global Complementary Sliding Mode Control for a Precision Motion Stage Driven by PMLSM

Hongyan Jin, Ximei Zhao*, and TianheWang
International Journal of Control, Automation, and Systems, vol. 19, no. 11, pp.3676-3687, 2021

Abstract : In this paper, a novel load disturbance observer-based global complementary sliding mode control (NLDOB-GCSMC) method is proposed to achieve high servo performance of the precision motion stage driven by a permanent magnet linear synchronous motor (PMLSM). The global complementary sliding mode control (GCSMC) method incorporates an approach angle into the saturation function to realize the dynamic change of the boundary layer, which guarantees the asymptotic stability and improves the global robustness of the system. Besides, compared to hybrid CSMC strategies, the GCSMC method has a simpler structure and faster response speed. However, in practical applications, the load disturbance has a significant impact on system performance. Therefore, a novel load disturbance observer (NLDOB) capable of identifying the load variation is proposed. According to the model reference adaptive identification (MRAI) theory, NLDOB can identify the load disturbance on-line and realize compensation to further improve the robustness. The more accurate tracking performance and stronger robustness of the proposed control scheme compared to conventional approaches have been confirmed through comparative experimental studies.

Keyword : Complementary sliding mode control, disturbance observer, permanent magnet linear synchronous motor, robustness.

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