Affiliation:
1. Key Laboratory of Measurement and Control of Complex Systems of Engineering, Ministry of Education, School of Automation, Southeast University, Nanjing 210096, China
Abstract
This paper investigates the finite-time position tracking control problem of pneumatic servo systems subject to hard nonlinearities and various disturbances. A finite-time disturbance observer is firstly designed, which guarantees that the disturbances can be accurately estimated in a finite time. Then, by combining disturbances compensation and state feedback controller together, a nonsmooth composite controller is developed based on sliding mode control approach and homogeneous theory. It is proved that the tracking errors under the proposed composite control approach can be stabilized to zero in finite time. Moreover, compared with pure state feedback control, the proposed composite control scheme offers a faster convergence rate and a better disturbance rejection property. Finally, numerical simulations illustrate the effectiveness of the proposed control scheme.
Funder
Priority Academic Program Development of Jiangsu Higher Education Institutions
Subject
General Engineering,General Mathematics
Cited by
2 articles.
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