Research on an Active Adjustment Mechanism Based on Non-Singular Terminal Sliding Mode and Finite-Time Disturbance Observer
Abstract
:1. Introduction
2. System Identification Experiment
3. Controller Design
3.1. System Resonance Suppression Methods
3.2. NTSM + FT-DOB Control Strategy
4. Results and Discussion
5. Conclusions
Author Contributions
Funding
Data Availability Statement
Conflicts of Interest
References
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Number | Control Strategy | Max (nm) | Min (nm) | RMS (nm) |
---|---|---|---|---|
Axis-1 | Uncontrolled | 80.81 | −82.32 | 20.70 |
C-SMC | 26.92 (↓66.69%) | −27.18 (↓66.98%) | 6.59 (↓68.16%) | |
C-SMC + FT-DOB | 16.04 (↓79.70%) | −18.00 (↓78.13%) | 4.33 (↓79.08%) | |
NTSM | 18.16 (↓77.52%) | −19.92 (↓75.80%) | 4.69 (↓77.34%) | |
NTSM + FT-DOB | 16.02 (↓80.17%) | −17.44 (↓78.81%) | 3.88 (↓81.25%) | |
Axis-2 | Uncontrolled | 139.45 | −141.02 | 32.04 |
C-SMC | 43.67 (↓68.68%) | −45.02 (↓68.08%) | 10.84 (↓66.17%) | |
C-SMC + FT-DOB | 30.46 (↓78.16%) | −32.19 (↓77.17%) | 7.55 (↓76.44%) | |
NTSM | 36.60 (↓73.75%) | −36.92 (↓73.82%) | 9.45 (↓70.51%) | |
NTSM + FT-DOB | 29.05 (↓79.17%) | −28.03 (↓80.12%) | 6.88 (↓78.53%) | |
Axis-3 | Uncontrolled | 50.02 | −49.42 | 14.30 |
C-SMC | 36.77 (↓26.49%) | −36.46 (↓26.22%) | 9.18 (↓35.80%) | |
C-SMC + FT-DOB | 19.22 (↓61.58%) | −21.66 (↓56.17%) | 4.90 (↓65.73%) | |
NTSM | 22.39 (↓55.14%) | −22.21 (↓55.06%) | 5.41 (↓62.17%) | |
NTSM + FT-DOB | 16.44 (↓67.13%) | −18.34 (↓62.89%) | 4.03 (↓71.82%) |
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Bai, Y.; Gong, X.; Li, S.; Lu, Q.; Song, Y. Research on an Active Adjustment Mechanism Based on Non-Singular Terminal Sliding Mode and Finite-Time Disturbance Observer. Electronics 2024, 13, 2794. https://doi.org/10.3390/electronics13142794
Bai Y, Gong X, Li S, Lu Q, Song Y. Research on an Active Adjustment Mechanism Based on Non-Singular Terminal Sliding Mode and Finite-Time Disturbance Observer. Electronics. 2024; 13(14):2794. https://doi.org/10.3390/electronics13142794
Chicago/Turabian StyleBai, Yang, Xuepeng Gong, Shengchi Li, Qipeng Lu, and Yuan Song. 2024. "Research on an Active Adjustment Mechanism Based on Non-Singular Terminal Sliding Mode and Finite-Time Disturbance Observer" Electronics 13, no. 14: 2794. https://doi.org/10.3390/electronics13142794