Active nonlinear uncertainties’ compensation is crucial for realizing high-precision servo control. However, rejection of unknown uncertainties is still a challenging problem. In view of these issues, this article proposes a novel nonlinear uncertainty estimator-based time-varying sliding mode control (SMC) scheme for servo systems with prescribed performance. A nonlinear uncertainty estimator, which uses first-order low-pass filter operations with only one tuning parameter, is constructed to deal with unknown nonlinearities, while the nonlinear disturbance estimator (NDE) estimation error and uncertainties of the servo system are handled by the robust integral of the sign of the error (RISE) feedbacks. Meanwhile, a modified prescribed performance function (PPF) with a faster convergence rate is incorporated into the control design to restrict the tracking errors within the predefined asymptotic boundaries. By combining PPF and NDE, a time-varying sliding mode (TVSM) controller is developed to eliminate the reaching phase and improve the control performance. The validity and feasibility of the presented control scheme are verified with simulations and experiments based on a motor driving system.
Nonlinear Uncertainty Estimator-Based Robust Control for PMSM Servo Mechanisms With Prescribed Performance
IEEE Transactions on Transportation Electrification ; 9 , 2 ; 2535-2543
2023-06-01
3350432 byte
Article (Journal)
Electronic Resource
English
Robust Prescribed Performance Control with External Disturbances
Springer Verlag | 2025
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