ArticleScientific reports2025
Non-singular terminal super-twitsing control of servo systems with backlash.
Article in Scientific reports, 2025. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.
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Abstract
To improve the control performance of servo systems under time-varying disturbances, a nonsingular terminal super twisting sliding mode control (NTSTC) method based on a reduced-order generalized proportional-integral observer is proposed. The method combines the third-order super-twisting and non-singular fast sliding mode to form an improved non-singular terminal super-twisting controller, while the reduced-order generalized proportional-integral observer is designed to accurately estimate the unknown part of the perturbation in real time and feed-forward compensation for NTSTC. The anti-interference ability and robustness of the motor control system are effectively improved, and the fault-tolerant control of the servo system under parameter disturbance and unknown disturbance is realized. Finally, the effectiveness of the proposed control algorithm is verified by simulation.
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