Global fast non-singular terminal sliding-mode control for high-speed nanopositioning

Geng Wang, Yongsheng Zhou, Lei Ni, Sumeet S. Aphale*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review


This paper presents a new Global Fast Non-singular Terminal Sliding Mode Controller (GFNTSMC) that delivers high-precision tracking of high-frequency trajectories when applied to a piezo-driven nanopositioner. The control
scheme is realized by combing inverse hysteresis model and global fast non-singular terminal sliding mode compensation. The inverse Bouc-Wen hysteresis model is used to calculate the required hysteresis-compensating feedforward
control voltage according to the reference signal. The key uniqueness of the proposed control strategy is it’s red global fast convergence, achieved with high accuracy and high bandwidth. The stability of the reported GFNTSMC controller is proved with the Lyapunov theory. Its performance is verified through experimentally recorded tracking results, and its superiority over three benchmark control approaches, namely the Proportional-Integral-Derivative (PID), the Positive Position Feedback with integral action (PPF+I) and the conventional linear high-order sliding mode controller (LHOSMC) is demonstrated through comparative tracking error analysis. Its wide-band stability as well as its significant robustness to parameter uncertainty is also showcased.
Original languageEnglish
Pages (from-to)560-570
JournalISA Transactions
Early online date12 May 2023
Publication statusPublished - May 2023


  • Nanopositioning
  • Sliding-mode control
  • Trajectory tracking
  • High order sliding surface
  • global fast non-singular SMC


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