Repetitive sliding mode observer for disturbance estimation of a linear motor system

doi:10.16511/j.cnki.qhdxxb.2016.22.023

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Abstract The drawback of the conventional sliding mode observer (SMO) when used for disturbance estimation is that it leads to nonzero estimation errors for a time-varying disturbance and chattering. A repetitive SMO (R-SMO) is developed for a repetitive linear motor system where periodic and non-periodic disturbances exist at the same time, which overcomes the drawback of the conventional SMO. The R-SMO incorporates the internal mode of the periodic disturbance to achieve asymptotic convergence to the periodic disturbance. The switching term then only needs to estimate the non-periodic disturbance which significantly reduces the chattering. The R-SMO is shown to be asymptotically convergent. Tests show that the R-SMO well estimates the disturbances of a linear motor system, improves the tracking accuracy after feedforward compensation and is superior to the conventional SMO in terms of convergence accuracy and chattering. Extensions to systems with multiple periodic disturbances and non-repetitive systems are discussed.

Keywords sliding mode observer repetitive motion periodic disturbance linear motor

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TP27

Issue Date: 15 June 2016

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	LI Fang
	YE Peiqing
	YAN Leyang
	ZHANG Hui

Cite this article:

LI Fang,YE Peiqing,YAN Leyang, et al. Repetitive sliding mode observer for disturbance estimation of a linear motor system[J]. Journal of Tsinghua University(Science and Technology), 2016, 56(6): 626-632.

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http://jst.tsinghuajournals.com/EN/10.16511/j.cnki.qhdxxb.2016.22.023 OR http://jst.tsinghuajournals.com/EN/Y2016/V56/I6/626

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