Application of sliding mode control with error transformation in dual-stage actuator

摘要

The spatial filter is capable of splitting the original desired trajectory of the dual-stage actuator (DSA) into two segments with arbitrary range, controlled by a linear motor (LM) actuator and a piezoelectric actuator (PZT) microactuator, respectively. Backstepping nonsingular terminal sliding mode control law with error transformation is designed to allow the tracking error of the actuator to converge and remain stable for a limited time, and reach the expected properties. Meanwhile, the adaptive exponential reaching law is added to the control law, which effectively improves the approach speed. An experiment is provided to demonstrate the effectiveness of the backstepping nonsingular terminal sliding mode control with error transformation in the DSA system and has a good trajectory tracking performance.