Fractional-order fast terminal sliding mode control for nanopositioning

Geng Wang; Sumeet S. Aphale

doi:10.1016/j.ifacol.2023.10.1801

Fractional-order fast terminal sliding mode control for nanopositioning

Geng Wang^* (Corresponding Author), Sumeet S. Aphale^* (Corresponding Author)

^*Corresponding author for this work

Southwest University of Science and Technology

Research output: Contribution to journal › Article › peer-review

Abstract

A novel fast terminal sliding mode controller is proposed in this work for high-performance trajectory tracking at the nanometer scales. It combines a recursive integer-order non-singular high-order sliding manifold and a fractional-order fast fixed-time reaching law to ensure globally fast convergence, and adopts a time-delay-estimation based disturbance estimator deeming the designed controller robust to parameter uncertainty. The stability of the designed controller is verified through the Lyapunov framework, where the full analyses of convergence region and settling time are also presented. The tracking performance is experimentally verified on a piezo-stack-driven nano-positioning platform.

Original language	English
Pages (from-to)	4313-4318
Number of pages	6
Journal	IFAC-PapersOnLine
Volume	56
Issue number	2
Early online date	22 Nov 2023
DOIs	https://doi.org/10.1016/j.ifacol.2023.10.1801
Publication status	Published - 2023
Event	IFAC World Congress 2023 - PACIFICO Yokohama, Yokohama, Japan Duration: 9 Jul 2023 → 14 Jul 2023 Conference number: 22 https://www.ifac2023.org/

Keywords

high-order sliding mode
fractional calculus
fast fixed-time convergence
time delay estimation
nanopositioning

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10.1016/j.ifacol.2023.10.1801Licence: CC BY-NC-ND

Wang_etal_IFACPO_Fractional_Order_Fast_VoR
This is an open access article under the CC BY-NC-ND licence (https://creativecommons.org/licenses/by-nc-nd/4.0/).
Final published version, 725 KBLicence: CC BY-NC-ND

Cite this

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title = "Fractional-order fast terminal sliding mode control for nanopositioning",

abstract = "A novel fast terminal sliding mode controller is proposed in this work for high-performance trajectory tracking at the nanometer scales. It combines a recursive integer-order non-singular high-order sliding manifold and a fractional-order fast fixed-time reaching law to ensure globally fast convergence, and adopts a time-delay-estimation based disturbance estimator deeming the designed controller robust to parameter uncertainty. The stability of the designed controller is verified through the Lyapunov framework, where the full analyses of convergence region and settling time are also presented. The tracking performance is experimentally verified on a piezo-stack-driven nano-positioning platform.",

keywords = "high-order sliding mode, fractional calculus, fast fixed-time convergence, time delay estimation, nanopositioning",

author = "Geng Wang and Aphale, {Sumeet S.}",

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AU - Aphale, Sumeet S.

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N2 - A novel fast terminal sliding mode controller is proposed in this work for high-performance trajectory tracking at the nanometer scales. It combines a recursive integer-order non-singular high-order sliding manifold and a fractional-order fast fixed-time reaching law to ensure globally fast convergence, and adopts a time-delay-estimation based disturbance estimator deeming the designed controller robust to parameter uncertainty. The stability of the designed controller is verified through the Lyapunov framework, where the full analyses of convergence region and settling time are also presented. The tracking performance is experimentally verified on a piezo-stack-driven nano-positioning platform.

AB - A novel fast terminal sliding mode controller is proposed in this work for high-performance trajectory tracking at the nanometer scales. It combines a recursive integer-order non-singular high-order sliding manifold and a fractional-order fast fixed-time reaching law to ensure globally fast convergence, and adopts a time-delay-estimation based disturbance estimator deeming the designed controller robust to parameter uncertainty. The stability of the designed controller is verified through the Lyapunov framework, where the full analyses of convergence region and settling time are also presented. The tracking performance is experimentally verified on a piezo-stack-driven nano-positioning platform.

KW - high-order sliding mode

KW - fractional calculus

KW - fast fixed-time convergence

KW - time delay estimation

KW - nanopositioning

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DO - 10.1016/j.ifacol.2023.10.1801

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VL - 56

SP - 4313

EP - 4318

JO - IFAC-PapersOnLine

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IS - 2

T2 - IFAC World Congress 2023

Y2 - 9 July 2023 through 14 July 2023

ER -

Fractional-order fast terminal sliding mode control for nanopositioning

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