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Abstract and Applied Analysis
Volume 2014, Article ID 760937, 9 pages
Research Article

Finite-Time Terminal Sliding Mode Tracking Control for Piezoelectric Actuators

Jin Li1 and Liu Yang1,2

1College of Automation, Harbin Engineering University, Harbin, Heilongjiang 150001, China
2Department of Earth and Space Science and Engineering, York University, Toronto, ON, Canada M3J 1P3

Received 22 January 2014; Accepted 3 February 2014; Published 12 March 2014

Academic Editor: Shen Yin

Copyright © 2014 Jin Li and Liu Yang. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper proposes a continuous finite-time control scheme using a new form of terminal sliding mode (TSM) combined with a sliding mode disturbance observer (SMDO). The proposed controller is applied for nanopositioning of piezoelectric actuators (PEAs). Nonlinearities, mainly hysteresis, can drastically degrade the system performance. Same as the model imperfection, hysteresis can also be treated as uncertainties of the system. These uncertainties can be addressed by terminal sliding mode control (TSMC) for it is promising for positioning and tracking control. To further improve the robustness of the TSM controller, the SMDO is employed to estimate the bounded disturbances and uncertainties. The robust stability of the TSMC is proved through a Lyapunov stability analysis. Simulation results demonstrate the effectiveness of the proposed TSM/SMDO controller for both positioning and tracking applications. The fast response, few chattering, and high precision positioning and tracking performances can be achieved in finite time by the proposed controller.