High-Precision Position Control of PMLSM Using Fast Recursive Terminal Sliding Mode With Disturbance Rejection Ability

To improve the tracking accuracy and antidisturbance performance of permanent magnet linear synchronous motor (PMLSM), in this article, a fast recursive terminal sliding-mode control (FRTSMC) with mover velocity and disturbance observer (MVDO) is proposed. The FRTSMC is designed by a recursive structure of fast terminal sliding mode and integral sliding mode. The FRTSMC is initialized with an appropriate value to reduce the sliding-mode approach time and guarantee that the tracking error converges to zero in a finite time. To further improve the antidisturbance property and suppress the chattering phenomenon, an MVDO is integrated into the FRTSMC to simultaneously estimate the mover velocity and the lumped disturbance. Lyapunov theory is employed to analyze the closed-loop stability of the composited controller. The experimental results verify the effectiveness of the proposed method in reducing convergence error and enhancing robustness compared with the conventional fast nonsingular TSMC, adaptive recursive TSMC, and nonlinear disturbance observer based FRTSMC for PMLSM.