Precision Position Tracking for Piezoelectric-Driven Motion System using Continuous Third-Order Sliding Mode Control

Mishra, J, Xu, Q, Yu, X and Jalili, M 2018, 'Precision Position Tracking for Piezoelectric-Driven Motion System using Continuous Third-Order Sliding Mode Control', IEEE/ASME Transactions on Mechatronics, vol. 23, no. 4, pp. 1521-1531.


Document type: Journal Article
Collection: Journal Articles

Title Precision Position Tracking for Piezoelectric-Driven Motion System using Continuous Third-Order Sliding Mode Control
Author(s) Mishra, J
Xu, Q
Yu, X
Jalili, M
Year 2018
Journal name IEEE/ASME Transactions on Mechatronics
Volume number 23
Issue number 4
Start page 1521
End page 1531
Total pages 11
Publisher IEEE
Abstract This paper presents the design of a new continuous third-order sliding mode robust control scheme dedicated to trajectory tracking control of a piezoelectric-actuated motion system. One uniqueness of the developed controller is that it achieves inherent chattering-free control action with finite-time convergence. The model uncertainty including the hysteresis effect is estimated by perturbation estimation technique. Higher order derivatives of the position are estimated by using a robust sliding mode observer. A novel Third-Order Sliding Mode Control (TOSMC) is devised and its stability is proven based on Lyapunov analysis. The performance of the developed controller is validated and compared by carrying out real-time experimental studies. Results demonstrate remarkable robust tracking performance of the controller over existing second-order and third-order sliding mode control in terms of steady-state accuracy and robustness property with equivalent control effort.
Subject Control Systems, Robotics and Automation
Keyword(s) Nanopositioning
Piezoelectric actuators
Precision motion control
Sliding mode control (SMC)
DOI - identifier 10.1109/TMECH.2018.2853737
Copyright notice © 2018 IEEE
ISSN 1083-4435
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