Finite-Time Control of a Linear Motor Positioner Using Adaptive Recursive Terminal Sliding Mode

Payload variations, friction, and external disturbances deteriorate the control performance of linear motor (LM) positioners. To provide high-speed and high-precision performance for the LM, an adaptive recursive terminal sliding-mode (ARTSM) controller is proposed in this article. For the controller, a fast nonsingular terminal sliding function and a recursive integral terminal sliding function are developed in a recursive structure such that the sliding surfaces are arrived successively and ultimately the tracking error can converge to zero in a finite time. Furthermore, by setting an appropriate initial value for the integral element of the ARTSM controller, the control system is enforced to start on the sliding surface at the initial time such that the reaching time is reduced. Stability analysis is presented to prove the finite-time convergence and zero tracking error of the closed-loop system under the proposed ARTSM controller. Experimental results also demonstrate the effectiveness of the controller in terms of significantly reduced tracking errors and faster disturbance rejection in comparison with a recently reported fast nonsingular terminal sliding-mode (FNTSM) controller for the LM positioner.