article

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

Authors:

Yang TianAuthors Info & Claims

Asian Journal of Control, Volume 18, Issue 6

Pages 2263 - 2271

https://doi.org/10.1002/asjc.1322

Published: 01 November 2016 Publication History

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.

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Cited By

Shafei HBahrami M(2021)Trajectory tracking control of a wheeled mobile robot in the presence of matched uncertainties via a composite control approachAsian Journal of Control10.1002/asjc.241823:6(2805-2823)Online publication date: 1-Nov-2021
https://dl.acm.org/doi/10.1002/asjc.2418
Chang E(2020)Applying Robust Intelligent Algorithm and Internet of Things to Global Maximum Power Point Tracking of Solar Photovoltaic SystemsWireless Communications & Mobile Computing10.1155/2020/88824822020Online publication date: 25-Nov-2020
https://dl.acm.org/doi/10.1155/2020/8882482
Li YYe D(2019)Robust PID controller for flexible satellite attitude control under angular velocity and control torque constraintAsian Journal of Control10.1002/asjc.199922:3(1327-1344)Online publication date: 24-Jan-2019
https://dl.acm.org/doi/10.1002/asjc.1999

Index Terms

Trajectory Tracking Control of XY Table Using Sliding Mode Adaptive Control Based on Fast Double Power Reaching Law
1. Computing methodologies
  1. Artificial intelligence
    1. Control methods
      1. Computational control theory

Index terms have been assigned to the content through auto-classification.

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cover image Asian Journal of Control

Asian Journal of Control Volume 18, Issue 6

November 2016

408 pages

ISSN:1561-8625

EISSN:1934-6093

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John Wiley & Sons, Inc.

United States

Publication History

Published: 01 November 2016

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Cited By

Shafei HBahrami M(2021)Trajectory tracking control of a wheeled mobile robot in the presence of matched uncertainties via a composite control approachAsian Journal of Control10.1002/asjc.241823:6(2805-2823)Online publication date: 1-Nov-2021
https://dl.acm.org/doi/10.1002/asjc.2418
Chang E(2020)Applying Robust Intelligent Algorithm and Internet of Things to Global Maximum Power Point Tracking of Solar Photovoltaic SystemsWireless Communications & Mobile Computing10.1155/2020/88824822020Online publication date: 25-Nov-2020
https://dl.acm.org/doi/10.1155/2020/8882482
Li YYe D(2019)Robust PID controller for flexible satellite attitude control under angular velocity and control torque constraintAsian Journal of Control10.1002/asjc.199922:3(1327-1344)Online publication date: 24-Jan-2019
https://dl.acm.org/doi/10.1002/asjc.1999

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