Integral High Order Sliding Mode Control for Servo Turntable

摘要

The aim of this paper is to design a global robust and finite-time convergent controller for a servo turntable system. High order sliding mode control (HOSMC) with 2-order sliding surface is designed. This novel control method is formulated by using higher order sliding mode control with integral sliding surface applying to an auxiliary system. The controller applied in this paper is based on reaching law and geometric homogeneity approach which can compensate the uncertain environment and ensure finite-time convergence. The finite-time stability and convergence of HOSMC is proved by both the Lyapunov stability and negative homogeneity approach. Simulations and comparisons are conducted for the angle position tracking of servo turntable system. The outcomes with impressive steady state precision and higher convergence speed reveal the effectiveness of the proposed control method in this work.