Practical Tracking Control via Adaptive Fractional-Order Terminal SMC

This chapter proposes a practical adaptive FO terminal SMC strategy for tracking control of the linear motor. Compared with the conventional fast nonsingular SMC, the proposed approach, with a FO integral sliding surface and the adaptive switching input, can obtain higher convergence precision, even though the motion control system suffers from system uncertainties. The adaptive term is designed to guarantee finite-time high-precision convergence of the sliding mode variable, and meanwhile to degenerate the effect of uncertainties by selecting the proper adaptive gain. Moreover, continuous input due to cancelling the sign term ensures that the motion control system is chattering-free. Finally, to further improve the precision, we introduce the super-twisting sliding mode disturbance observer for reducing unknown bounded disturbance, i.e., the quantization noise caused by velocity estimation. Experimental results indicate that the control system with the proposed controller is easily implemented and has higher tracking precision and considerable robustness to uncertainties compared with the existing controllers.