Adaptive Fractional-Order Sliding Mode Control for Admittance-Based Telerobotic System With Optimized Order and Force Estimation

Ma, Zhiqiang; Liu, Zhengxiong; Huang, Panfeng; Kuang, Zhian

doi:10.1109/tie.2021.3078385

Cited by 62 publications

(30 citation statements)

References 30 publications

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“…The SMC methods have been applied in industrial applications extensively. In [33], a fractional order sliding mode controller for the sensor-less tele-robotic system with uncertain time delay, model uncertainty, fractional calculus numerical approximation bias, and external disturbances was proposed and optimized based on the greedy algorithm. In [34] the authors have focused on the fast position tracking problem for the permanent magnet linear motor (PMLM) system under a logarithmic sliding mode control signal with reduced chattering.…”

Section: Introductionmentioning

confidence: 99%

Chattering-Free Terminal Sliding Mode Control Based on Adaptive Barrier Function for Chaotic Systems With Unknown Uncertainties

et al. 2022

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This paper designs and implements a chattering-free terminal sliding mode control approach for a class of chaotic systems with unknown uncertainties. It considers sliding mode control (SMC) to deal with the dynamic model uncertainties of the chaos system, and uses a combination of SMC with an adaptive control approach to solve the upper boundaries problem of unknown model uncertainties and their estimation. Chattering is completely eliminated without over estimating the control gains by adopting an adaptive continuous barrier function in the dynamic switching function. Using the Lyapunov's stability theory, it was shown that the proposed scheme can guarantee the convergence of system states to the vicinity of the sliding surface in finite time. Additionally, the adoption of a sliding surface with a nonlinear and integral switching function resulted in removing the reaching phase of the sliding surface and yielding a controller that is robust to uncertainties from the start. The effectiveness of the proposed control method was assessed using three scenarios implemented to a Liu's uncertain chaotic system in MATLAB/Simulink environment. The obtained results confirmed the ability of the proposed approach to achieve continuous and smooth control rules for such chaotic systems. Among the main attributes of the proposed control method are its ability to completely eliminate chattering and yield a robust performance against model uncertainties and unknown external disturbances; common issues in chaotic systems.INDEX TERMS Terminal sliding mode control, chaotic systems, adaptive barrier function, chattering-free, unknown uncertainty.

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Section: Introductionmentioning

confidence: 99%

Chattering-Free Terminal Sliding Mode Control Based on Adaptive Barrier Function for Chaotic Systems With Unknown Uncertainties

et al. 2022

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“…Although the exponential reaching law can improve the dynamic characteristics of the system and reduce the chattering by adjusting the parameters of the reaching law, it cannot completely eliminate the chattering of the system. Ma et al [20] proposed a variable structure control with a neural network and an optimized fractional-order selection policy, which could suppress the combined error in the boundedness of approximating double Euler difference errors. Liu et al [21] proposed a new exponential reaching law method, which could speed up the convergence while adding power function terms.…”

Section: Introductionmentioning

confidence: 99%

Sliding Mode Control of Electro-Hydraulic Position Servo System Based on Adaptive Reaching Law

et al. 2022

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For the problem of the system state variable taking a long time to reach the sliding mode surface and the chattering frequency being high in the sliding mode surface, a sliding mode control method based on the adaptive reaching law is proposed, the system state variable is introduced based on the subreaching law, and an improved variable-speed reaching law is added with reference to the characteristics of the hyperbolic tangent function. The sliding mode control method is divided into two stages, namely, the initial state to the critical value s = ±1 and the system state variable reaching the equilibrium point of the sliding mode surface, and the total time obtained is less than the sum of these two stages. Secondly, this method is adopted in the electro-hydraulic position servo system, and a sliding mode controller is established. Through an AMESim/Simulink co-simulation, it is compared with the sliding mode controller based on the traditional exponential reaching law. The results show that this method can effectively reduce the jitter of the system, reduce the time for the system to reach the sliding surface, and improve the robustness of the system.

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“…As is known, sliding mode control (SMC) has been proved to be a potentially useful approach in industrial applications, such as actuator [21], robot [22][23] and PMSM [3][4]. Many advanced sliding mode control methods are widely used in motor drive, such as fractional order sliding mode control [24], terminal sliding mode control [25] and integral sliding mode control [26].…”

Section: Introductionmentioning

confidence: 99%

Backstepping Nonsingular Terminal Sliding Mode Control for PMSM With Finite-Time Disturbance Observer

Liu²,

2021

IEEE Access

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Aiming at the speed regulation problem of permanent magnet synchronous motor (PMSM) drives, a novel backstepping nonsingular terminal sliding mode control (BNTSMC) method with finitetime disturbance observer (FTDO) is proposed. In order to ensure excellent tracking and anti-disturbance performance, the backstepping nonsingular terminal sliding mode speed controller based on equivalent motor model and the recursive principle is designed for PMSM. The benefits of this approach are that the controller has asymptotic stability based on backstepping design, finite-time convergence, and strong robustness for the matched disturbance based on sliding mode control. Then, to further improve the antidisturbance performance, a finite-time disturbance observer is designed, and it is used to estimate the mismatched external disturbance in motor drive system. The stability of the system is also proved with Lyapunov criterion. Finally, the experimental results show that the proposed method has the advantages of fast convergence and strong robustness against parameter variations and external disturbance.INDEX TERMS PMSM drive, backstepping nonsingular terminal sliding mode control (BNTSMC), finitetime disturbance observer (FTDO).

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Adaptive Fractional-Order Sliding Mode Control for Admittance-Based Telerobotic System With Optimized Order and Force Estimation

Cited by 62 publications

References 30 publications

Chattering-Free Terminal Sliding Mode Control Based on Adaptive Barrier Function for Chaotic Systems With Unknown Uncertainties

Chattering-Free Terminal Sliding Mode Control Based on Adaptive Barrier Function for Chaotic Systems With Unknown Uncertainties

Sliding Mode Control of Electro-Hydraulic Position Servo System Based on Adaptive Reaching Law

Backstepping Nonsingular Terminal Sliding Mode Control for PMSM With Finite-Time Disturbance Observer

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