High-Order Sliding Mode Control for Flexible Servo Systems using Fully Actuated System Approach

This paper presents a high-order sliding mode control scheme for servo systems with the unknown disturbance via the fully actuated system (FAS) approach. Firstly, a three-order sliding surface based on the FAS approach is developed, and the integral part of the sliding surface contains the dynamical compensator, which can optimize the control performance of the system. Then, the asymptotical stability for sliding mode dynamics is ensured based on the Lyapunov technology. In addition, a sliding mode controller is proposed such that the unknown disturbance can be compensated and the trajectories of the system can be driven onto the sliding surface in a finite time. Finally, the effectiveness of the proposed approach is validated through comparative simulations.