Abstract In this paper, a fast terminal sliding mode controller is designed for an active suspension gravity compensation system with unknown bounds of uncertainties and disturbances. A robust finite-time convergence estimator is used to estimate the velocity and the disturbances. The estimator can guarantee that the speed of the estimation errors converge faster than the displacement tracking errors by regulating its gains. The corresponding stability and robustness of the closed-loop system are proved. In particular, the proposed control scheme can reduce the chattering effectively and render the high-precision tracking performance that have been verified by the simulation and experiments.

中文翻译：

---

基于速度和扰动估计的主动悬架重力补偿系统快速终端滑模控制

摘要 本文针对不确定性和扰动边界未知的主动悬架重力补偿系统设计了一种快速终端滑模控制器。稳健的有限时间收敛估计器用于估计速度和扰动。估计器可以通过调节其增益来保证估计误差的收敛速度快于位移跟踪误差。证明了闭环系统相应的稳定性和鲁棒性。特别是所提出的控制方案可以有效地减少抖动，并呈现出经过仿真和实验验证的高精度跟踪性能。