Robust fractional-order fast terminal sliding mode control with fixed-time reaching law for high-performance nanopositioning

Geng Wang, Yongsheng Zhou, Lei Ni, Sumeet S. Aphale* (Corresponding Author)

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

Abstract

For high-performance trajectory tracking at the nanometer scales, this paper presents a new fast terminal sliding mode controller, which combines a recursive integerorder non-singular high-order sliding manifold and a fractional-order fast fixed-time reaching law to ensure globally fast convergence, and adopts a time-delay-estimation (TDE) based disturbance estimator deeming the designed controller robust to parameter uncertainty. Stability of the designed controller is verified through the Lyapunov framework, where the full analyses of convergence region and settling time are also presented. The tracking performance is experimentally verified on a piezostack driven nano-positioning platform. To showcase the performance improvements, measured closed-loop performance of the proposed controller is contrasted with those obtained using three benchmark control approaches namely the basic Proportional-Integral-Derivative (PID), the popular Positive Position Feedback with Integral action (PPF+I), and the traditional Linear Sliding Mode Controller (LSMC).
Original languageEnglish
Number of pages20
JournalInternational Journal of Robust and Nonlinear Control
Early online date7 Dec 2022
DOIs
Publication statusE-pub ahead of print - 7 Dec 2022

Keywords

  • high-order sliding mode
  • fractional calculus
  • fast fixed-time convergence
  • time delay estimation
  • nanopositioning

Fingerprint

Dive into the research topics of 'Robust fractional-order fast terminal sliding mode control with fixed-time reaching law for high-performance nanopositioning'. Together they form a unique fingerprint.

Cite this