Fixed-time sliding mode control and high-gain nonlinearity compensation for dual-motor driving system
Fixed-time sliding mode control and high-gain nonlinearity compensation for dual-motor driving system
A two-stage design procedure combining the strength of a fixed-time sliding mode control and a high-gain compensator for deadzone nonlinearity is proposed for a multimotor driving system. A novel practical fixed-time convergent controller is designed for the perturbed system, which improves the applicability of the proposed method. The concept of multisurface sliding mode is used to cope with the load tracking problem and can guarantee fixed-time convergence, which is regardless of initial states of the system. The convergence time can be known as a priori and a satisfactory dynamic performance can be obtained. Meanwhile, the fixed-time convergent synchronization controller is designed to guarantee the synchronization of driving motors. Then, a high-gain nonlinearity compensator is designed to reduce performance degradation caused by the deadzone nonlinearity. Its simple form makes it more practical and reliable to use than existing compensation methods. Comparative experimental results demonstrate the efficacy of the developed control scheme.
Fixed-time sliding mode, multimotor driving system, multisurface, nonlinearity compensation
4090-4098
Zeng, Tianyi
0c259925-4a87-4aaf-b373-215f65c56298
Ren, Xuemei
189f687a-5e0c-4b31-af04-196ecae6927a
Zhang, Yao
a4f30318-ab42-4b38-a60d-f7199ff3a02a
1 June 2020
Zeng, Tianyi
0c259925-4a87-4aaf-b373-215f65c56298
Ren, Xuemei
189f687a-5e0c-4b31-af04-196ecae6927a
Zhang, Yao
a4f30318-ab42-4b38-a60d-f7199ff3a02a
Zeng, Tianyi, Ren, Xuemei and Zhang, Yao
(2020)
Fixed-time sliding mode control and high-gain nonlinearity compensation for dual-motor driving system.
IEEE Transactions on Industrial Informatics, 16 (6), .
(doi:10.1109/TII.2019.2950806).
Abstract
A two-stage design procedure combining the strength of a fixed-time sliding mode control and a high-gain compensator for deadzone nonlinearity is proposed for a multimotor driving system. A novel practical fixed-time convergent controller is designed for the perturbed system, which improves the applicability of the proposed method. The concept of multisurface sliding mode is used to cope with the load tracking problem and can guarantee fixed-time convergence, which is regardless of initial states of the system. The convergence time can be known as a priori and a satisfactory dynamic performance can be obtained. Meanwhile, the fixed-time convergent synchronization controller is designed to guarantee the synchronization of driving motors. Then, a high-gain nonlinearity compensator is designed to reduce performance degradation caused by the deadzone nonlinearity. Its simple form makes it more practical and reliable to use than existing compensation methods. Comparative experimental results demonstrate the efficacy of the developed control scheme.
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Accepted/In Press date: 20 October 2019
Published date: 1 June 2020
Additional Information:
Funding Information:
Manuscript received September 4, 2019; revised October 15, 2019; accepted October 20, 2019. Date of publication October 31, 2019; date of current version February 28, 2020. This work was supported by the National Natural Science Foundation of China under Grant 61433003, Grant 61973036, Grant 61621063, and Grant 61973274. Paper no. TII-19-4105. (Corresponding author: Yao Zhang.) T. Zeng and X. Ren are with the Beijing Institute of Technology, Beijing 100081, China (e-mail: tyzeng0525@outlook.com; xmren@bit.edu.cn).
Publisher Copyright:
© 2005-2012 IEEE.
Keywords:
Fixed-time sliding mode, multimotor driving system, multisurface, nonlinearity compensation
Identifiers
Local EPrints ID: 472269
URI: http://eprints.soton.ac.uk/id/eprint/472269
ISSN: 1551-3203
PURE UUID: 8e1379f1-f694-40e3-8b60-734035cfa021
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Date deposited: 30 Nov 2022 17:42
Last modified: 18 Mar 2024 04:07
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Author:
Tianyi Zeng
Author:
Xuemei Ren
Author:
Yao Zhang
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