In this article, a continuous terminal sliding mode control algorithm is proposed for servo motor systems. A novel full-order terminal sliding mode surface is proposed based on the bilimit homogeneous property, such that the sliding motion is finite-time stable independent of the system's initial condition. A new continuous terminal sliding mode control algorithm is proposed to guarantee that the system states reach the sliding surface in finite-time. Not only the robustness is guaranteed by the proposed controller but also the continuity makes the control algorithm more suitable for the servo mechanical systems. Finally, a numerical example is presented to depict the advantages of the proposed control algorithm. An application in the rotary servo system is done to validate the effectiveness of the proposed control strategy.

中文翻译：

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伺服电机系统的有限时间连续终端滑模控制


在本文中，提出了一种用于伺服电机系统的连续终端滑模控制算法。基于双极限齐次性质，提出了一种新颖的全阶终端滑模面，使得滑动运动具有独立于系统初始条件的有限时间稳定。提出一种新的连续终端滑模控制算法，保证系统状态在有限时间内到达滑模面。所提出的控制器不仅保证了鲁棒性，而且连续性使控制算法更适合伺服机械系统。最后，给出了一个数值例子来描述所提出的控制算法的优点。在旋转伺服系统中的应用验证了所提出控制策略的有效性。