Abstract
Biaxial tables are widely applied in high performance motion control applications for high accuracy. Tracking error is one of the most significant indicators of machining precision, and tracking control is an effective means to eliminate the tracking error. In this paper, to attenuate the tracking error and reduce the chattering phenomenon in the control input simultaneously, a fractional-order integral sliding mode controller is proposed. Compared with the existing sliding mode controller, the proposed control law not only maintains the original robustness against variations but also reduces the tracking error effectively. At the same time, the overshoot can be weakened and the reaching law will converge to the sliding surface more rapidly. Experiments conducted on a biaxial table demonstrate that the proposed control scheme is easy to apply, the tracking error is smaller and the input chatter can be improved significantly compared to the integer SMC.
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Acknowledgement
This work was supported by the National Natural Science Foundation of China under Grant Nos. 51405175, 51535004, 51323009 and 51375196.
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Yu, X., Zhao, H., Li, X., Ding, H. (2017). Fractional-Order Integral Sliding Mode Controller for Biaxial Motion Control System. In: Huang, Y., Wu, H., Liu, H., Yin, Z. (eds) Intelligent Robotics and Applications. ICIRA 2017. Lecture Notes in Computer Science(), vol 10463. Springer, Cham. https://doi.org/10.1007/978-3-319-65292-4_3
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DOI: https://doi.org/10.1007/978-3-319-65292-4_3
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