Periodic Tracking Control for Linear Motor via Improved Terminal Sliding Mode Control with Iterative Learning Disturbance Compensation

This paper designs an improved fast nonsingular terminal sliding mode control (FNTSMC) method for permanent magnet linear motors to track the periodic control tasks, which uses an iterative learning controller to learn periodic information and improve the performance. By designing a non-singular terminal sliding surface and using Lyapunov stability theory, the FNTSMC is designed. Afterwards, with the help of the operator stability theory, the asymptotic convergence of the paper algorithm and the improvement of the tracking ability were strictly proved. Lastly, experiments on an actual linear motor setup illustrated the effectiveness and superior performance of the paper method.