Integral 2-Order Sliding Mode Control for Servo Turntable Based on Extended State Observer

摘要

This paper investigates a globally robust and globally finite-time convergent controller for a servo turntable system. The control method is formulated by using a 2-order sliding mode control (SMC) with integral sliding surface applying to an auxiliary system. To eliminate the need of advanced information, extended state observer (ESO) is applied. The proposed controller in this paper is based on geometric homogeneity approach which can ensure finite-time convergence. The finite-time stability and convergence of ESO and controller are analysed based on both the Lyapunov stability theory and negative homogeneity approach. To illustrate the effectiveness of the proposed results in this work, simulations and comparisons are shown for the angle position tracking of servo turntable system.