Integral Terminal Sliding Mode Position Control of Pump Control System
A novel control technique is proposed to improve the response speed,robustness,and control accuracy of actuators by combining an extended state observer with a backstepping integral terminal sliding mode preset performance controller.Firstly,the nonlinear disturbance observer is integrated with the extended state observer to achieve observation of state variables,external disturbances,and matching disturbances.Then,integral terminal sliding mode and specified performance constraints are introduced into the controller to accelerate the convergence speed of the tracking error of the actuator when the displacement error is far from the equilibrium point,and ensure that the transient and steady-state position responses are within the required bounded range.Finally,stability analysis of the controller is conducted based on the Lyapunov method.The results indicate that under the condition of tracking composite trajectories with external load disturbances,the designed controller can guarantee transient performance and the specified tracking accuracy.Compared to the backstepping sliding mode controller and PID controller,the proposed controller exhibits better control performance.
pump control systemintegral terminal sliding modeprescribed performance constraintextended state observer
万方数据
维普
