Fuzzy adaptive multi-mode sliding mode control for precision linear stage based on floating stator

Jiwen Fang; Wei Zhong; Chong Li; Zhong Zhao; Michael Yu Wang

doi:10.1063/1.5059365

Fuzzy adaptive multi-mode sliding mode control for precision linear stage based on floating stator

Rev Sci Instrum. 2019 Jan;90(1):015103. doi: 10.1063/1.5059365.

Authors

Jiwen Fang¹, Wei Zhong¹, Chong Li¹, Zhong Zhao¹, Michael Yu Wang²

Affiliations

¹ School of Mechanical Engineering, Jiangsu University of Science and Technology, Zhenjiang, China.
² Hong Kong University of Sicence and Technology, Clear Water Bay, Hong Kong.

PMID: 30709195
DOI: 10.1063/1.5059365

Abstract

This paper outlines a precision motion stage actuated by using a voice coil motor with a floating stator. For getting good performance, a multi-mode sliding mode control (MMSMC) was designed to operate this linear motion stage. MMSMC contains two sliding mode controllers: a sliding-mode control (SMC) and an integral sliding-mode control. The switching of two SMCs will be activated according to the setting error threshold. In order to eliminate the chattering phenomenon, a soft switching control is developed to replace the signum function with a smooth function. To obtain improved performance, a fuzzy controller and an adaptive controller are introduced into the MMSMC to form a fuzzy adaptive multi-mode sliding mode control (FAMMSMC). The fuzzy control is adopted to tune the slope of the sliding mode function, and the gain of the switching control is tuned according to the adaptive law. The results of the experiments are provided to make a comparison with the FAMMSMC, MMSMC, and proportional-integral-derivative control. The experimental results show that good positioning and tracking performance can be provided by using FAMMSMC.