Optimal Super-Twisting Sliding-Mode Control Using Adaptive Dynamic Programming for Uncertain Linear-Stage Considering PMSM Servo Drive Dynamics

Fayez F.M. El-Sousy, Mahmoud M. Amin, Ghada A. Abdel Aziz, Ahmed Al-Durra, Osama A. Mohammed

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Scopus citations

Abstract

This paper proposes an optimal adaptive super-twisting sliding-mode control (OASTSMC) via adaptive dynamic programming (ADP) to achieve high precision-positioning for linear stage considering the uncertain nonlinear dynamics of the permanent-magnet synchronous motor (PMSM) servo drive actuator. First, the position of the linear-stage is stabilized through super-twisting sliding-mode controller (STSMC). However, the control performance may be destroyed due to parameter uncertainties, friction and backlash nonlinearities of the ball-screw and external disturbances. Therefore, to improve the robustness and to achieve high precision-positioning, an OASTSMC is designed to achieve this purpose. The OASTSMC incorporates a STSMC, a FLNN identifier and an optimal feedback controller. The STSMC is adopted to reduce the chattering, the FLNN identifier is developed for the approximation of uncertain nonlinear dynamics online and the infinite horizon optimal control is developed using a critic NN and ADP to facilitate the online solution of the Hamilton-Jacobi-Bellman (HJB) equation. The dynamic behavior of linear-stage using the OASTSMC assures the stability of the closed-loop and guarantees the optimal performance for the overall system. The validation of the proposed control scheme is carried out to verify the efficacy of the OASTSMC approach through experimental analysis. The experimental results confirm good dynamic performance of linear-stage.

Original languageBritish English
Title of host publicationECCE 2020 - IEEE Energy Conversion Congress and Exposition
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages5790-5797
Number of pages8
ISBN (Electronic)9781728158266
DOIs
StatePublished - 11 Oct 2020
Event12th Annual IEEE Energy Conversion Congress and Exposition, ECCE 2020 - Virtual, Detroit, United States
Duration: 11 Oct 202015 Oct 2020

Publication series

NameECCE 2020 - IEEE Energy Conversion Congress and Exposition

Conference

Conference12th Annual IEEE Energy Conversion Congress and Exposition, ECCE 2020
Country/TerritoryUnited States
CityVirtual, Detroit
Period11/10/2015/10/20

Keywords

  • Adaptive control
  • adaptive dynamic programming (ADP)
  • functional-link neural-network
  • Hamilton-Jacobi-Bellman (HJB)
  • optimal control
  • PMSM

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