Practical Fixed-time Position Tracking Control of Permanent Magnet DC Torque Motor Systems

This article focuses on the position control problem for permanent magnet dc torque motor systems. An adaptive position tracking controller is proposed with online parameter adaptation. The position of the permanent magnet dc torque motor under the proposed strategy tracks the reference signal with fixed-time convergence. Different from previous fixed-time control methods, the approach proposed in this article can be implemented under two different modes with continuous transition, which facilitates the controller design in reducing the initial shock of the control signal. An adaptive law with smooth function is presented to counteract the disturbance and attenuate the chattering. Both numerical simulation and real-time experiment are given to verify the effectiveness of the proposed strategy.